641 lines
22 KiB
Rust
641 lines
22 KiB
Rust
use crate::dynamics::solver::MotorParameters;
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use crate::dynamics::{FixedJoint, MotorModel, PrismaticJoint, RevoluteJoint};
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use crate::math::{Isometry, Point, Real, Rotation, UnitVector, Vector, SPATIAL_DIM};
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use crate::utils::{WBasis, WReal};
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#[cfg(feature = "dim3")]
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use crate::dynamics::SphericalJoint;
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#[cfg(feature = "dim3")]
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bitflags::bitflags! {
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/// A bit mask identifying multiple degrees of freedom of a joint.
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#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
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pub struct JointAxesMask: u8 {
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/// The translational degree of freedom along the local X axis of a joint.
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const X = 1 << 0;
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/// The translational degree of freedom along the local Y axis of a joint.
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const Y = 1 << 1;
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/// The translational degree of freedom along the local Z axis of a joint.
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const Z = 1 << 2;
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/// The angular degree of freedom along the local X axis of a joint.
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const ANG_X = 1 << 3;
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/// The angular degree of freedom along the local Y axis of a joint.
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const ANG_Y = 1 << 4;
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/// The angular degree of freedom along the local Z axis of a joint.
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const ANG_Z = 1 << 5;
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/// The set of degrees of freedom locked by a revolute joint.
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const LOCKED_REVOLUTE_AXES = Self::X.bits | Self::Y.bits | Self::Z.bits | Self::ANG_Y.bits | Self::ANG_Z.bits;
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/// The set of degrees of freedom locked by a prismatic joint.
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const LOCKED_PRISMATIC_AXES = Self::Y.bits | Self::Z.bits | Self::ANG_X.bits | Self::ANG_Y.bits | Self::ANG_Z.bits;
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/// The set of degrees of freedom locked by a fixed joint.
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const LOCKED_FIXED_AXES = Self::X.bits | Self::Y.bits | Self::Z.bits | Self::ANG_X.bits | Self::ANG_Y.bits | Self::ANG_Z.bits;
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/// The set of degrees of freedom locked by a spherical joint.
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const LOCKED_SPHERICAL_AXES = Self::X.bits | Self::Y.bits | Self::Z.bits;
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/// The set of degrees of freedom left free by a revolute joint.
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const FREE_REVOLUTE_AXES = Self::ANG_X.bits;
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/// The set of degrees of freedom left free by a prismatic joint.
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const FREE_PRISMATIC_AXES = Self::X.bits;
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/// The set of degrees of freedom left free by a fixed joint.
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const FREE_FIXED_AXES = 0;
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/// The set of degrees of freedom left free by a spherical joint.
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const FREE_SPHERICAL_AXES = Self::ANG_X.bits | Self::ANG_Y.bits | Self::ANG_Z.bits;
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/// The set of all translational degrees of freedom.
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const LIN_AXES = Self::X.bits() | Self::Y.bits() | Self::Z.bits();
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/// The set of all angular degrees of freedom.
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const ANG_AXES = Self::ANG_X.bits() | Self::ANG_Y.bits() | Self::ANG_Z.bits();
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}
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}
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#[cfg(feature = "dim2")]
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bitflags::bitflags! {
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/// A bit mask identifying multiple degrees of freedom of a joint.
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#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
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pub struct JointAxesMask: u8 {
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/// The translational degree of freedom along the local X axis of a joint.
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const X = 1 << 0;
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/// The translational degree of freedom along the local Y axis of a joint.
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const Y = 1 << 1;
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/// The angular degree of freedom of a joint.
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const ANG_X = 1 << 2;
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/// The set of degrees of freedom locked by a revolute joint.
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const LOCKED_REVOLUTE_AXES = Self::X.bits | Self::Y.bits;
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/// The set of degrees of freedom locked by a prismatic joint.
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const LOCKED_PRISMATIC_AXES = Self::Y.bits | Self::ANG_X.bits;
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/// The set of degrees of freedom locked by a fixed joint.
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const LOCKED_FIXED_AXES = Self::X.bits | Self::Y.bits | Self::ANG_X.bits;
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/// The set of degrees of freedom left free by a revolute joint.
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const FREE_REVOLUTE_AXES = Self::ANG_X.bits;
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/// The set of degrees of freedom left free by a prismatic joint.
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const FREE_PRISMATIC_AXES = Self::X.bits;
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/// The set of degrees of freedom left free by a fixed joint.
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const FREE_FIXED_AXES = 0;
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/// The set of all translational degrees of freedom.
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const LIN_AXES = Self::X.bits() | Self::Y.bits();
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/// The set of all angular degrees of freedom.
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const ANG_AXES = Self::ANG_X.bits();
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}
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}
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impl Default for JointAxesMask {
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fn default() -> Self {
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Self::empty()
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}
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}
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/// Identifiers of degrees of freedoms of a joint.
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#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
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#[derive(Copy, Clone, Debug, PartialEq)]
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pub enum JointAxis {
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/// The translational degree of freedom along the joint’s local X axis.
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X = 0,
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/// The translational degree of freedom along the joint’s local Y axis.
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Y,
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/// The translational degree of freedom along the joint’s local Z axis.
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#[cfg(feature = "dim3")]
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Z,
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/// The rotational degree of freedom along the joint’s local X axis.
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AngX,
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/// The rotational degree of freedom along the joint’s local Y axis.
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#[cfg(feature = "dim3")]
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AngY,
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/// The rotational degree of freedom along the joint’s local Z axis.
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#[cfg(feature = "dim3")]
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AngZ,
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}
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impl From<JointAxis> for JointAxesMask {
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fn from(axis: JointAxis) -> Self {
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JointAxesMask::from_bits(1 << axis as usize).unwrap()
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}
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}
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/// The limits of a joint along one of its degrees of freedom.
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#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
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#[derive(Copy, Clone, Debug, PartialEq)]
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pub struct JointLimits<N> {
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/// The minimum bound of the joint limit.
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pub min: N,
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/// The maximum bound of the joint limit.
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pub max: N,
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/// The impulse applied to enforce the joint’s limit.
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pub impulse: N,
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}
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impl<N: WReal> Default for JointLimits<N> {
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fn default() -> Self {
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Self {
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min: -N::splat(Real::MAX),
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max: N::splat(Real::MAX),
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impulse: N::splat(0.0),
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}
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}
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}
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/// A joint’s motor along one of its degrees of freedom.
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#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
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#[derive(Copy, Clone, Debug, PartialEq)]
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pub struct JointMotor {
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/// The target velocity of the motor.
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pub target_vel: Real,
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/// The target position of the motor.
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pub target_pos: Real,
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/// The stiffness coefficient of the motor’s spring-like equation.
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pub stiffness: Real,
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/// The damping coefficient of the motor’s spring-like equation.
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pub damping: Real,
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/// The maximum force this motor can deliver.
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pub max_force: Real,
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/// The impulse applied by this motor.
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pub impulse: Real,
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/// The spring-like model used for simulating this motor.
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pub model: MotorModel,
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}
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impl Default for JointMotor {
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fn default() -> Self {
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Self {
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target_pos: 0.0,
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target_vel: 0.0,
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stiffness: 0.0,
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damping: 0.0,
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max_force: Real::MAX,
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impulse: 0.0,
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model: MotorModel::AccelerationBased,
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}
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}
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}
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impl JointMotor {
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pub(crate) fn motor_params(&self, dt: Real) -> MotorParameters<Real> {
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let (erp_inv_dt, cfm_coeff, cfm_gain) =
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self.model
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.combine_coefficients(dt, self.stiffness, self.damping);
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MotorParameters {
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erp_inv_dt,
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cfm_coeff,
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cfm_gain,
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// keep_lhs,
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target_pos: self.target_pos,
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target_vel: self.target_vel,
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max_impulse: self.max_force * dt,
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}
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}
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}
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#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
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#[derive(Copy, Clone, Debug, PartialEq)]
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/// A generic joint.
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pub struct GenericJoint {
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/// The joint’s frame, expressed in the first rigid-body’s local-space.
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pub local_frame1: Isometry<Real>,
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/// The joint’s frame, expressed in the second rigid-body’s local-space.
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pub local_frame2: Isometry<Real>,
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/// The degrees-of-freedoms locked by this joint.
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pub locked_axes: JointAxesMask,
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/// The degrees-of-freedoms limited by this joint.
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pub limit_axes: JointAxesMask,
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/// The degrees-of-freedoms motorised by this joint.
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pub motor_axes: JointAxesMask,
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/// The coupled degrees of freedom of this joint.
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pub coupled_axes: JointAxesMask,
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/// The limits, along each degrees of freedoms of this joint.
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///
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/// Note that the limit must also be explicitly enabled by the `limit_axes` bitmask.
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pub limits: [JointLimits<Real>; SPATIAL_DIM],
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/// The motors, along each degrees of freedoms of this joint.
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///
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/// Note that the mostor must also be explicitly enabled by the `motors` bitmask.
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pub motors: [JointMotor; SPATIAL_DIM],
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/// Are contacts between the attached rigid-bodies enabled?
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pub contacts_enabled: bool,
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}
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impl Default for GenericJoint {
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fn default() -> Self {
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Self {
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local_frame1: Isometry::identity(),
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local_frame2: Isometry::identity(),
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locked_axes: JointAxesMask::empty(),
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limit_axes: JointAxesMask::empty(),
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motor_axes: JointAxesMask::empty(),
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coupled_axes: JointAxesMask::empty(),
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limits: [JointLimits::default(); SPATIAL_DIM],
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motors: [JointMotor::default(); SPATIAL_DIM],
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contacts_enabled: true,
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}
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}
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}
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impl GenericJoint {
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/// Creates a new generic joint that locks the specified degrees of freedom.
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#[must_use]
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pub fn new(locked_axes: JointAxesMask) -> Self {
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*Self::default().lock_axes(locked_axes)
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}
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#[cfg(feature = "simd-is-enabled")]
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/// Can this joint use SIMD-accelerated constraint formulations?
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pub(crate) fn supports_simd_constraints(&self) -> bool {
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self.limit_axes.is_empty() && self.motor_axes.is_empty()
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}
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#[doc(hidden)]
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pub fn complete_ang_frame(axis: UnitVector<Real>) -> Rotation<Real> {
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let basis = axis.orthonormal_basis();
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#[cfg(feature = "dim2")]
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{
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use na::{Matrix2, Rotation2, UnitComplex};
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let mat = Matrix2::from_columns(&[axis.into_inner(), basis[0]]);
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let rotmat = Rotation2::from_matrix_unchecked(mat);
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UnitComplex::from_rotation_matrix(&rotmat)
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}
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#[cfg(feature = "dim3")]
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{
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use na::{Matrix3, Rotation3, UnitQuaternion};
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let mat = Matrix3::from_columns(&[axis.into_inner(), basis[0], basis[1]]);
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let rotmat = Rotation3::from_matrix_unchecked(mat);
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UnitQuaternion::from_rotation_matrix(&rotmat)
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}
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}
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/// Add the specified axes to the set of axes locked by this joint.
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pub fn lock_axes(&mut self, axes: JointAxesMask) -> &mut Self {
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self.locked_axes |= axes;
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self
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}
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/// Sets the joint’s frame, expressed in the first rigid-body’s local-space.
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pub fn set_local_frame1(&mut self, local_frame: Isometry<Real>) -> &mut Self {
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self.local_frame1 = local_frame;
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self
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}
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/// Sets the joint’s frame, expressed in the second rigid-body’s local-space.
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pub fn set_local_frame2(&mut self, local_frame: Isometry<Real>) -> &mut Self {
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self.local_frame2 = local_frame;
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self
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}
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/// Are contacts between the attached rigid-bodies enabled?
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pub fn contacts_enabled(&self) -> bool {
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self.contacts_enabled
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}
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/// Sets whether contacts between the attached rigid-bodies are enabled.
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pub fn set_contacts_enabled(&mut self, enabled: bool) -> &mut Self {
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self.contacts_enabled = enabled;
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self
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}
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/// The principal (local X) axis of this joint, expressed in the first rigid-body’s local-space.
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#[must_use]
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pub fn local_axis1(&self) -> UnitVector<Real> {
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self.local_frame1 * Vector::x_axis()
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}
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/// Sets the principal (local X) axis of this joint, expressed in the first rigid-body’s local-space.
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pub fn set_local_axis1(&mut self, local_axis: UnitVector<Real>) -> &mut Self {
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self.local_frame1.rotation = Self::complete_ang_frame(local_axis);
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self
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}
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/// The principal (local X) axis of this joint, expressed in the second rigid-body’s local-space.
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#[must_use]
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pub fn local_axis2(&self) -> UnitVector<Real> {
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self.local_frame2 * Vector::x_axis()
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}
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/// Sets the principal (local X) axis of this joint, expressed in the second rigid-body’s local-space.
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pub fn set_local_axis2(&mut self, local_axis: UnitVector<Real>) -> &mut Self {
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self.local_frame2.rotation = Self::complete_ang_frame(local_axis);
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self
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}
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/// The anchor of this joint, expressed in the first rigid-body’s local-space.
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#[must_use]
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pub fn local_anchor1(&self) -> Point<Real> {
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self.local_frame1.translation.vector.into()
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}
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/// Sets anchor of this joint, expressed in the first rigid-body’s local-space.
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pub fn set_local_anchor1(&mut self, anchor1: Point<Real>) -> &mut Self {
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self.local_frame1.translation.vector = anchor1.coords;
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self
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}
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/// The anchor of this joint, expressed in the second rigid-body’s local-space.
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#[must_use]
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pub fn local_anchor2(&self) -> Point<Real> {
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self.local_frame2.translation.vector.into()
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}
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/// Sets anchor of this joint, expressed in the second rigid-body’s local-space.
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pub fn set_local_anchor2(&mut self, anchor2: Point<Real>) -> &mut Self {
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self.local_frame2.translation.vector = anchor2.coords;
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self
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}
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/// The joint limits along the specified axis.
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#[must_use]
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pub fn limits(&self, axis: JointAxis) -> Option<&JointLimits<Real>> {
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let i = axis as usize;
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if self.limit_axes.contains(axis.into()) {
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Some(&self.limits[i])
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} else {
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None
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}
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}
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/// Sets the joint limits along the specified axis.
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pub fn set_limits(&mut self, axis: JointAxis, limits: [Real; 2]) -> &mut Self {
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let i = axis as usize;
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self.limit_axes |= axis.into();
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self.limits[i].min = limits[0];
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self.limits[i].max = limits[1];
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self
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}
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/// The spring-like motor model along the specified axis of this joint.
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#[must_use]
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pub fn motor_model(&self, axis: JointAxis) -> Option<MotorModel> {
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let i = axis as usize;
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if self.motor_axes.contains(axis.into()) {
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Some(self.motors[i].model)
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} else {
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None
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}
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}
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/// Set the spring-like model used by the motor to reach the desired target velocity and position.
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pub fn set_motor_model(&mut self, axis: JointAxis, model: MotorModel) -> &mut Self {
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self.motors[axis as usize].model = model;
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self
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}
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/// Sets the target velocity this motor needs to reach.
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pub fn set_motor_velocity(
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&mut self,
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axis: JointAxis,
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target_vel: Real,
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factor: Real,
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) -> &mut Self {
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self.set_motor(
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axis,
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self.motors[axis as usize].target_pos,
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target_vel,
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0.0,
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factor,
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)
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}
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/// Sets the target angle this motor needs to reach.
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pub fn set_motor_position(
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&mut self,
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axis: JointAxis,
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target_pos: Real,
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stiffness: Real,
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damping: Real,
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) -> &mut Self {
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self.set_motor(axis, target_pos, 0.0, stiffness, damping)
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}
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/// Sets the maximum force the motor can deliver along the specified axis.
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pub fn set_motor_max_force(&mut self, axis: JointAxis, max_force: Real) -> &mut Self {
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self.motors[axis as usize].max_force = max_force;
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self
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}
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/// The motor affecting the joint’s degree of freedom along the specified axis.
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#[must_use]
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pub fn motor(&self, axis: JointAxis) -> Option<&JointMotor> {
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let i = axis as usize;
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if self.motor_axes.contains(axis.into()) {
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Some(&self.motors[i])
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} else {
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None
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}
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}
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/// Configure both the target angle and target velocity of the motor.
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pub fn set_motor(
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&mut self,
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axis: JointAxis,
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target_pos: Real,
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target_vel: Real,
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stiffness: Real,
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damping: Real,
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) -> &mut Self {
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self.motor_axes |= axis.into();
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let i = axis as usize;
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self.motors[i].target_vel = target_vel;
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self.motors[i].target_pos = target_pos;
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self.motors[i].stiffness = stiffness;
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self.motors[i].damping = damping;
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self
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}
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}
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macro_rules! joint_conversion_methods(
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($as_joint: ident, $as_joint_mut: ident, $Joint: ty, $axes: expr) => {
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/// Converts the joint to its specific variant, if it is one.
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#[must_use]
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pub fn $as_joint(&self) -> Option<&$Joint> {
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if self.locked_axes == $axes {
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// SAFETY: this is OK because the target joint type is
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// a `repr(transparent)` newtype of `Joint`.
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Some(unsafe { std::mem::transmute(self) })
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} else {
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None
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}
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}
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/// Converts the joint to its specific mutable variant, if it is one.
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#[must_use]
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pub fn $as_joint_mut(&mut self) -> Option<&mut $Joint> {
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if self.locked_axes == $axes {
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// SAFETY: this is OK because the target joint type is
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// a `repr(transparent)` newtype of `Joint`.
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Some(unsafe { std::mem::transmute(self) })
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} else {
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None
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}
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}
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}
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);
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impl GenericJoint {
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joint_conversion_methods!(
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as_revolute,
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as_revolute_mut,
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RevoluteJoint,
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JointAxesMask::LOCKED_REVOLUTE_AXES
|
||
);
|
||
joint_conversion_methods!(
|
||
as_fixed,
|
||
as_fixed_mut,
|
||
FixedJoint,
|
||
JointAxesMask::LOCKED_FIXED_AXES
|
||
);
|
||
joint_conversion_methods!(
|
||
as_prismatic,
|
||
as_prismatic_mut,
|
||
PrismaticJoint,
|
||
JointAxesMask::LOCKED_PRISMATIC_AXES
|
||
);
|
||
|
||
#[cfg(feature = "dim3")]
|
||
joint_conversion_methods!(
|
||
as_spherical,
|
||
as_spherical_mut,
|
||
SphericalJoint,
|
||
JointAxesMask::LOCKED_SPHERICAL_AXES
|
||
);
|
||
}
|
||
|
||
/// Create generic joints using the builder pattern.
|
||
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
|
||
#[derive(Copy, Clone, Debug, PartialEq)]
|
||
pub struct GenericJointBuilder(pub GenericJoint);
|
||
|
||
impl GenericJointBuilder {
|
||
/// Creates a new generic joint builder.
|
||
#[must_use]
|
||
pub fn new(locked_axes: JointAxesMask) -> Self {
|
||
Self(GenericJoint::new(locked_axes))
|
||
}
|
||
|
||
/// Sets the degrees of freedom locked by the joint.
|
||
#[must_use]
|
||
pub fn locked_axes(mut self, axes: JointAxesMask) -> Self {
|
||
self.0.locked_axes = axes;
|
||
self
|
||
}
|
||
|
||
/// Sets whether contacts between the attached rigid-bodies are enabled.
|
||
#[must_use]
|
||
pub fn contacts_enabled(mut self, enabled: bool) -> Self {
|
||
self.0.contacts_enabled = enabled;
|
||
self
|
||
}
|
||
|
||
/// Sets the joint’s frame, expressed in the first rigid-body’s local-space.
|
||
#[must_use]
|
||
pub fn local_frame1(mut self, local_frame: Isometry<Real>) -> Self {
|
||
self.0.set_local_frame1(local_frame);
|
||
self
|
||
}
|
||
|
||
/// Sets the joint’s frame, expressed in the second rigid-body’s local-space.
|
||
#[must_use]
|
||
pub fn local_frame2(mut self, local_frame: Isometry<Real>) -> Self {
|
||
self.0.set_local_frame2(local_frame);
|
||
self
|
||
}
|
||
|
||
/// Sets the principal (local X) axis of this joint, expressed in the first rigid-body’s local-space.
|
||
#[must_use]
|
||
pub fn local_axis1(mut self, local_axis: UnitVector<Real>) -> Self {
|
||
self.0.set_local_axis1(local_axis);
|
||
self
|
||
}
|
||
|
||
/// Sets the principal (local X) axis of this joint, expressed in the second rigid-body’s local-space.
|
||
#[must_use]
|
||
pub fn local_axis2(mut self, local_axis: UnitVector<Real>) -> Self {
|
||
self.0.set_local_axis2(local_axis);
|
||
self
|
||
}
|
||
|
||
/// Sets the anchor of this joint, expressed in the first rigid-body’s local-space.
|
||
#[must_use]
|
||
pub fn local_anchor1(mut self, anchor1: Point<Real>) -> Self {
|
||
self.0.set_local_anchor1(anchor1);
|
||
self
|
||
}
|
||
|
||
/// Sets the anchor of this joint, expressed in the second rigid-body’s local-space.
|
||
#[must_use]
|
||
pub fn local_anchor2(mut self, anchor2: Point<Real>) -> Self {
|
||
self.0.set_local_anchor2(anchor2);
|
||
self
|
||
}
|
||
|
||
/// Sets the joint limits along the specified axis.
|
||
#[must_use]
|
||
pub fn limits(mut self, axis: JointAxis, limits: [Real; 2]) -> Self {
|
||
self.0.set_limits(axis, limits);
|
||
self
|
||
}
|
||
|
||
/// Sets the coupled degrees of freedom for this joint’s limits and motor.
|
||
#[must_use]
|
||
pub fn coupled_axes(mut self, axes: JointAxesMask) -> Self {
|
||
self.0.coupled_axes = axes;
|
||
self
|
||
}
|
||
|
||
/// Set the spring-like model used by the motor to reach the desired target velocity and position.
|
||
#[must_use]
|
||
pub fn motor_model(mut self, axis: JointAxis, model: MotorModel) -> Self {
|
||
self.0.set_motor_model(axis, model);
|
||
self
|
||
}
|
||
|
||
/// Sets the target velocity this motor needs to reach.
|
||
#[must_use]
|
||
pub fn motor_velocity(mut self, axis: JointAxis, target_vel: Real, factor: Real) -> Self {
|
||
self.0.set_motor_velocity(axis, target_vel, factor);
|
||
self
|
||
}
|
||
|
||
/// Sets the target angle this motor needs to reach.
|
||
#[must_use]
|
||
pub fn motor_position(
|
||
mut self,
|
||
axis: JointAxis,
|
||
target_pos: Real,
|
||
stiffness: Real,
|
||
damping: Real,
|
||
) -> Self {
|
||
self.0
|
||
.set_motor_position(axis, target_pos, stiffness, damping);
|
||
self
|
||
}
|
||
|
||
/// Configure both the target angle and target velocity of the motor.
|
||
#[must_use]
|
||
pub fn set_motor(
|
||
mut self,
|
||
axis: JointAxis,
|
||
target_pos: Real,
|
||
target_vel: Real,
|
||
stiffness: Real,
|
||
damping: Real,
|
||
) -> Self {
|
||
self.0
|
||
.set_motor(axis, target_pos, target_vel, stiffness, damping);
|
||
self
|
||
}
|
||
|
||
/// Sets the maximum force the motor can deliver along the specified axis.
|
||
#[must_use]
|
||
pub fn motor_max_force(mut self, axis: JointAxis, max_force: Real) -> Self {
|
||
self.0.set_motor_max_force(axis, max_force);
|
||
self
|
||
}
|
||
|
||
/// Builds the generic joint.
|
||
#[must_use]
|
||
pub fn build(self) -> GenericJoint {
|
||
self.0
|
||
}
|
||
}
|
||
|
||
impl Into<GenericJoint> for GenericJointBuilder {
|
||
fn into(self) -> GenericJoint {
|
||
self.0
|
||
}
|
||
}
|