246 lines
9.1 KiB
Rust
246 lines
9.1 KiB
Rust
use crate::data::{BundleSet, ComponentSet};
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use crate::dynamics::solver::VelocityGroundConstraint;
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use crate::dynamics::{
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IntegrationParameters, MultibodyJointSet, RigidBodyIds, RigidBodyMassProps, RigidBodyType,
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RigidBodyVelocity,
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};
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use crate::geometry::{ContactManifold, ContactManifoldIndex};
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use crate::math::{Point, Real, DIM, MAX_MANIFOLD_POINTS};
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use crate::utils::WCross;
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use super::{
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AnyVelocityConstraint, VelocityGroundConstraintElement, VelocityGroundConstraintNormalPart,
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};
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#[cfg(feature = "dim2")]
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use crate::utils::WBasis;
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use na::DVector;
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#[derive(Copy, Clone, Debug)]
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pub(crate) struct GenericVelocityGroundConstraint {
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// We just build the generic constraint on top of the velocity constraint,
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// adding some information we can use in the generic case.
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pub velocity_constraint: VelocityGroundConstraint,
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pub j_id: usize,
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pub ndofs2: usize,
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}
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impl GenericVelocityGroundConstraint {
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pub fn generate<Bodies>(
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params: &IntegrationParameters,
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manifold_id: ContactManifoldIndex,
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manifold: &ContactManifold,
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bodies: &Bodies,
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multibodies: &MultibodyJointSet,
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out_constraints: &mut Vec<AnyVelocityConstraint>,
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jacobians: &mut DVector<Real>,
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jacobian_id: &mut usize,
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insert_at: Option<usize>,
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) where
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Bodies: ComponentSet<RigidBodyIds>
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+ ComponentSet<RigidBodyVelocity>
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+ ComponentSet<RigidBodyMassProps>
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+ ComponentSet<RigidBodyType>,
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{
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let inv_dt = params.inv_dt();
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let erp_inv_dt = params.erp_inv_dt();
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let mut handle1 = manifold.data.rigid_body1;
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let mut handle2 = manifold.data.rigid_body2;
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let flipped = manifold.data.relative_dominance < 0;
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let (force_dir1, flipped_multiplier) = if flipped {
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std::mem::swap(&mut handle1, &mut handle2);
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(manifold.data.normal, -1.0)
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} else {
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(-manifold.data.normal, 1.0)
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};
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let (rb_vels1, world_com1) = if let Some(handle1) = handle1 {
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let (vels1, mprops1): (&RigidBodyVelocity, &RigidBodyMassProps) =
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bodies.index_bundle(handle1.0);
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(*vels1, mprops1.world_com)
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} else {
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(RigidBodyVelocity::zero(), Point::origin())
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};
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let (rb_vels2, rb_mprops2): (&RigidBodyVelocity, &RigidBodyMassProps) =
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bodies.index_bundle(handle2.unwrap().0);
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let (mb2, link_id2) = handle2
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.and_then(|h| multibodies.rigid_body_link(h))
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.map(|m| (&multibodies[m.multibody], m.id))
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.unwrap();
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let mj_lambda2 = mb2.solver_id;
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#[cfg(feature = "dim2")]
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let tangents1 = force_dir1.orthonormal_basis();
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#[cfg(feature = "dim3")]
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let tangents1 = super::compute_tangent_contact_directions(
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&force_dir1,
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&rb_vels1.linvel,
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&rb_vels2.linvel,
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);
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let multibodies_ndof = mb2.ndofs();
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// For each solver contact we generate DIM constraints, and each constraints appends
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// the multibodies jacobian and weighted jacobians
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let required_jacobian_len =
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*jacobian_id + manifold.data.solver_contacts.len() * multibodies_ndof * 2 * DIM;
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if jacobians.nrows() < required_jacobian_len && !cfg!(feature = "parallel") {
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jacobians.resize_vertically_mut(required_jacobian_len, 0.0);
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}
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for (_l, manifold_points) in manifold
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.data
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.solver_contacts
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.chunks(MAX_MANIFOLD_POINTS)
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.enumerate()
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{
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let chunk_j_id = *jacobian_id;
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let mut constraint = VelocityGroundConstraint {
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dir1: force_dir1,
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#[cfg(feature = "dim3")]
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tangent1: tangents1[0],
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elements: [VelocityGroundConstraintElement::zero(); MAX_MANIFOLD_POINTS],
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im2: rb_mprops2.effective_inv_mass,
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limit: 0.0,
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mj_lambda2,
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manifold_id,
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manifold_contact_id: [0; MAX_MANIFOLD_POINTS],
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num_contacts: manifold_points.len() as u8,
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};
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for k in 0..manifold_points.len() {
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let manifold_point = &manifold_points[k];
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let dp1 = manifold_point.point - world_com1;
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let dp2 = manifold_point.point - rb_mprops2.world_com;
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let vel1 = rb_vels1.linvel + rb_vels1.angvel.gcross(dp1);
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let vel2 = rb_vels2.linvel + rb_vels2.angvel.gcross(dp2);
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constraint.limit = manifold_point.friction;
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constraint.manifold_contact_id[k] = manifold_point.contact_id;
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// Normal part.
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{
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let torque_dir2 = dp2.gcross(-force_dir1);
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let inv_r2 = mb2
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.fill_jacobians(
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link_id2,
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-force_dir1,
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#[cfg(feature = "dim2")]
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na::vector!(torque_dir2),
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#[cfg(feature = "dim3")]
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torque_dir2,
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jacobian_id,
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jacobians,
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)
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.0;
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let r = crate::utils::inv(inv_r2);
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let is_bouncy = manifold_point.is_bouncy() as u32 as Real;
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let is_resting = 1.0 - is_bouncy;
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let mut rhs_wo_bias = (1.0 + is_bouncy * manifold_point.restitution)
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* (vel1 - vel2).dot(&force_dir1);
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rhs_wo_bias += manifold_point.dist.max(0.0) * inv_dt;
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rhs_wo_bias *= is_bouncy + is_resting;
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let rhs_bias =
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/* is_resting * */ erp_inv_dt * manifold_point.dist.clamp(-params.max_penetration_correction, 0.0);
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constraint.elements[k].normal_part = VelocityGroundConstraintNormalPart {
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gcross2: na::zero(), // Unused for generic constraints.
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rhs: rhs_wo_bias + rhs_bias,
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rhs_wo_bias,
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impulse: na::zero(),
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r,
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};
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}
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// Tangent parts.
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{
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constraint.elements[k].tangent_part.impulse = na::zero();
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for j in 0..DIM - 1 {
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let torque_dir2 = dp2.gcross(-tangents1[j]);
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let inv_r2 = mb2
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.fill_jacobians(
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link_id2,
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-tangents1[j],
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#[cfg(feature = "dim2")]
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na::vector![torque_dir2],
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#[cfg(feature = "dim3")]
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torque_dir2,
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jacobian_id,
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jacobians,
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)
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.0;
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let r = crate::utils::inv(inv_r2);
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let rhs = (vel1 - vel2
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+ flipped_multiplier * manifold_point.tangent_velocity)
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.dot(&tangents1[j]);
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constraint.elements[k].tangent_part.rhs[j] = rhs;
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// FIXME: in 3D, we should take into account gcross[0].dot(gcross[1])
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// in lhs. See the corresponding code on the `velocity_constraint.rs`
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// file.
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constraint.elements[k].tangent_part.r[j] = r;
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}
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}
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}
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let constraint = GenericVelocityGroundConstraint {
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velocity_constraint: constraint,
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j_id: chunk_j_id,
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ndofs2: mb2.ndofs(),
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};
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if let Some(at) = insert_at {
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out_constraints[at + _l] =
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AnyVelocityConstraint::NongroupedGenericGround(constraint);
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} else {
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out_constraints.push(AnyVelocityConstraint::NongroupedGenericGround(constraint));
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}
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}
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}
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pub fn solve(
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&mut self,
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cfm_factor: Real,
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jacobians: &DVector<Real>,
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generic_mj_lambdas: &mut DVector<Real>,
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solve_restitution: bool,
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solve_friction: bool,
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) {
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let mj_lambda2 = self.velocity_constraint.mj_lambda2 as usize;
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let elements = &mut self.velocity_constraint.elements
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[..self.velocity_constraint.num_contacts as usize];
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VelocityGroundConstraintElement::generic_solve_group(
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cfm_factor,
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elements,
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jacobians,
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self.velocity_constraint.limit,
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self.ndofs2,
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self.j_id,
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mj_lambda2,
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generic_mj_lambdas,
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solve_restitution,
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solve_friction,
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);
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}
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pub fn writeback_impulses(&self, manifolds_all: &mut [&mut ContactManifold]) {
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self.velocity_constraint.writeback_impulses(manifolds_all);
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}
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pub fn remove_bias_from_rhs(&mut self) {
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self.velocity_constraint.remove_bias_from_rhs();
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}
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}
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