1478 lines
51 KiB
Rust
1478 lines
51 KiB
Rust
use crate::dynamics::solver::joint_constraint::joint_velocity_constraint::{
|
||
JointFixedSolverBody, JointOneBodyConstraint, JointTwoBodyConstraint, WritebackId,
|
||
};
|
||
use crate::dynamics::solver::joint_constraint::JointSolverBody;
|
||
use crate::dynamics::solver::solver_body::SolverBody;
|
||
use crate::dynamics::solver::ConstraintsCounts;
|
||
use crate::dynamics::solver::MotorParameters;
|
||
use crate::dynamics::{GenericJoint, ImpulseJoint, IntegrationParameters, JointIndex};
|
||
use crate::math::{AngVector, Isometry, Matrix, Point, Real, Rotation, Vector, ANG_DIM, DIM};
|
||
use crate::prelude::RigidBodySet;
|
||
use crate::utils;
|
||
use crate::utils::{IndexMut2, SimdCrossMatrix, SimdDot, SimdQuat, SimdRealCopy};
|
||
use na::SMatrix;
|
||
|
||
#[cfg(feature = "dim3")]
|
||
use crate::utils::SimdBasis;
|
||
|
||
#[cfg(feature = "simd-is-enabled")]
|
||
use crate::math::{SimdReal, SIMD_WIDTH};
|
||
|
||
pub struct JointTwoBodyConstraintBuilder {
|
||
body1: usize,
|
||
body2: usize,
|
||
joint_id: JointIndex,
|
||
joint: GenericJoint,
|
||
constraint_id: usize,
|
||
}
|
||
|
||
impl JointTwoBodyConstraintBuilder {
|
||
pub fn generate(
|
||
joint: &ImpulseJoint,
|
||
bodies: &RigidBodySet,
|
||
joint_id: JointIndex,
|
||
out_builder: &mut Self,
|
||
out_constraint_id: &mut usize,
|
||
) {
|
||
let rb1 = &bodies[joint.body1];
|
||
let rb2 = &bodies[joint.body2];
|
||
*out_builder = Self {
|
||
body1: rb1.ids.active_set_offset,
|
||
body2: rb2.ids.active_set_offset,
|
||
joint_id,
|
||
joint: joint.data,
|
||
constraint_id: *out_constraint_id,
|
||
};
|
||
|
||
let count = ConstraintsCounts::from_joint(joint);
|
||
*out_constraint_id += count.num_constraints;
|
||
}
|
||
|
||
pub fn update(
|
||
&self,
|
||
params: &IntegrationParameters,
|
||
bodies: &[SolverBody],
|
||
out: &mut [JointTwoBodyConstraint<Real, 1>],
|
||
) {
|
||
// NOTE: right now, the "update", is basically reconstructing all the
|
||
// constraints. Could we make this more incremental?
|
||
|
||
let rb1 = &bodies[self.body1];
|
||
let rb2 = &bodies[self.body2];
|
||
let frame1 = rb1.position * self.joint.local_frame1;
|
||
let frame2 = rb2.position * self.joint.local_frame2;
|
||
|
||
let joint_body1 = JointSolverBody {
|
||
im: rb1.im,
|
||
sqrt_ii: rb1.sqrt_ii,
|
||
world_com: rb1.world_com,
|
||
solver_vel: [self.body1],
|
||
};
|
||
let joint_body2 = JointSolverBody {
|
||
im: rb2.im,
|
||
sqrt_ii: rb2.sqrt_ii,
|
||
world_com: rb2.world_com,
|
||
solver_vel: [self.body2],
|
||
};
|
||
|
||
JointTwoBodyConstraint::<Real, 1>::lock_axes(
|
||
params,
|
||
self.joint_id,
|
||
&joint_body1,
|
||
&joint_body2,
|
||
&frame1,
|
||
&frame2,
|
||
&self.joint,
|
||
&mut out[self.constraint_id..],
|
||
);
|
||
}
|
||
}
|
||
|
||
#[cfg(feature = "simd-is-enabled")]
|
||
pub struct JointTwoBodyConstraintBuilderSimd {
|
||
body1: [usize; SIMD_WIDTH],
|
||
body2: [usize; SIMD_WIDTH],
|
||
joint_body1: JointSolverBody<SimdReal, SIMD_WIDTH>,
|
||
joint_body2: JointSolverBody<SimdReal, SIMD_WIDTH>,
|
||
joint_id: [JointIndex; SIMD_WIDTH],
|
||
local_frame1: Isometry<SimdReal>,
|
||
local_frame2: Isometry<SimdReal>,
|
||
locked_axes: u8,
|
||
constraint_id: usize,
|
||
}
|
||
|
||
#[cfg(feature = "simd-is-enabled")]
|
||
impl JointTwoBodyConstraintBuilderSimd {
|
||
pub fn generate(
|
||
joint: [&ImpulseJoint; SIMD_WIDTH],
|
||
bodies: &RigidBodySet,
|
||
joint_id: [JointIndex; SIMD_WIDTH],
|
||
out_builder: &mut Self,
|
||
out_constraint_id: &mut usize,
|
||
) {
|
||
let rb1 = gather![|ii| &bodies[joint[ii].body1]];
|
||
let rb2 = gather![|ii| &bodies[joint[ii].body2]];
|
||
|
||
let body1 = gather![|ii| rb1[ii].ids.active_set_offset];
|
||
let body2 = gather![|ii| rb2[ii].ids.active_set_offset];
|
||
|
||
let joint_body1 = JointSolverBody {
|
||
im: gather![|ii| rb1[ii].mprops.effective_inv_mass].into(),
|
||
sqrt_ii: gather![|ii| rb1[ii].mprops.effective_world_inv_inertia_sqrt].into(),
|
||
world_com: Point::origin(),
|
||
solver_vel: body1,
|
||
};
|
||
let joint_body2 = JointSolverBody {
|
||
im: gather![|ii| rb2[ii].mprops.effective_inv_mass].into(),
|
||
sqrt_ii: gather![|ii| rb2[ii].mprops.effective_world_inv_inertia_sqrt].into(),
|
||
world_com: Point::origin(),
|
||
solver_vel: body2,
|
||
};
|
||
|
||
*out_builder = Self {
|
||
body1,
|
||
body2,
|
||
joint_body1,
|
||
joint_body2,
|
||
joint_id,
|
||
local_frame1: gather![|ii| joint[ii].data.local_frame1].into(),
|
||
local_frame2: gather![|ii| joint[ii].data.local_frame2].into(),
|
||
locked_axes: joint[0].data.locked_axes.bits(),
|
||
constraint_id: *out_constraint_id,
|
||
};
|
||
|
||
let count = ConstraintsCounts::from_joint(joint[0]);
|
||
*out_constraint_id += count.num_constraints;
|
||
}
|
||
|
||
pub fn update(
|
||
&mut self,
|
||
params: &IntegrationParameters,
|
||
bodies: &[SolverBody],
|
||
out: &mut [JointTwoBodyConstraint<SimdReal, SIMD_WIDTH>],
|
||
) {
|
||
// NOTE: right now, the "update", is basically reconstructing all the
|
||
// constraints. Could we make this more incremental?
|
||
|
||
let rb1 = gather![|ii| &bodies[self.body1[ii]]];
|
||
let rb2 = gather![|ii| &bodies[self.body2[ii]]];
|
||
let frame1 = Isometry::from(gather![|ii| rb1[ii].position]) * self.local_frame1;
|
||
let frame2 = Isometry::from(gather![|ii| rb2[ii].position]) * self.local_frame2;
|
||
self.joint_body1.world_com = gather![|ii| rb1[ii].world_com].into();
|
||
self.joint_body2.world_com = gather![|ii| rb2[ii].world_com].into();
|
||
|
||
JointTwoBodyConstraint::<SimdReal, SIMD_WIDTH>::lock_axes(
|
||
params,
|
||
self.joint_id,
|
||
&self.joint_body1,
|
||
&self.joint_body2,
|
||
&frame1,
|
||
&frame2,
|
||
self.locked_axes,
|
||
&mut out[self.constraint_id..],
|
||
);
|
||
}
|
||
}
|
||
|
||
pub struct JointOneBodyConstraintBuilder {
|
||
body1: JointFixedSolverBody<Real>,
|
||
frame1: Isometry<Real>,
|
||
body2: usize,
|
||
joint_id: JointIndex,
|
||
joint: GenericJoint,
|
||
constraint_id: usize,
|
||
}
|
||
|
||
impl JointOneBodyConstraintBuilder {
|
||
pub fn generate(
|
||
joint: &ImpulseJoint,
|
||
bodies: &RigidBodySet,
|
||
joint_id: JointIndex,
|
||
out_builder: &mut Self,
|
||
out_constraint_id: &mut usize,
|
||
) {
|
||
let mut joint_data = joint.data;
|
||
let mut handle1 = joint.body1;
|
||
let mut handle2 = joint.body2;
|
||
let flipped = !bodies[handle2].is_dynamic();
|
||
|
||
if flipped {
|
||
std::mem::swap(&mut handle1, &mut handle2);
|
||
std::mem::swap(&mut joint_data.local_frame1, &mut joint_data.local_frame2);
|
||
};
|
||
|
||
let rb1 = &bodies[handle1];
|
||
let rb2 = &bodies[handle2];
|
||
|
||
let frame1 = rb1.pos.position * joint_data.local_frame1;
|
||
let joint_body1 = JointFixedSolverBody {
|
||
linvel: rb1.vels.linvel,
|
||
angvel: rb1.vels.angvel,
|
||
world_com: rb1.mprops.world_com,
|
||
};
|
||
|
||
*out_builder = Self {
|
||
body1: joint_body1,
|
||
frame1,
|
||
body2: rb2.ids.active_set_offset,
|
||
joint_id,
|
||
joint: joint_data,
|
||
constraint_id: *out_constraint_id,
|
||
};
|
||
|
||
let count = ConstraintsCounts::from_joint(joint);
|
||
*out_constraint_id += count.num_constraints;
|
||
}
|
||
|
||
pub fn update(
|
||
&self,
|
||
params: &IntegrationParameters,
|
||
bodies: &[SolverBody],
|
||
out: &mut [JointOneBodyConstraint<Real, 1>],
|
||
) {
|
||
// NOTE: right now, the "update", is basically reconstructing all the
|
||
// constraints. Could we make this more incremental?
|
||
|
||
let rb2 = &bodies[self.body2];
|
||
let frame2 = rb2.position * self.joint.local_frame2;
|
||
|
||
let joint_body2 = JointSolverBody {
|
||
im: rb2.im,
|
||
sqrt_ii: rb2.sqrt_ii,
|
||
world_com: rb2.world_com,
|
||
solver_vel: [self.body2],
|
||
};
|
||
|
||
JointOneBodyConstraint::<Real, 1>::lock_axes(
|
||
params,
|
||
self.joint_id,
|
||
&self.body1,
|
||
&joint_body2,
|
||
&self.frame1,
|
||
&frame2,
|
||
&self.joint,
|
||
&mut out[self.constraint_id..],
|
||
);
|
||
}
|
||
}
|
||
|
||
#[cfg(feature = "simd-is-enabled")]
|
||
pub struct JointOneBodyConstraintBuilderSimd {
|
||
body1: JointFixedSolverBody<SimdReal>,
|
||
frame1: Isometry<SimdReal>,
|
||
body2: [usize; SIMD_WIDTH],
|
||
joint_id: [JointIndex; SIMD_WIDTH],
|
||
local_frame2: Isometry<SimdReal>,
|
||
locked_axes: u8,
|
||
constraint_id: usize,
|
||
}
|
||
|
||
#[cfg(feature = "simd-is-enabled")]
|
||
impl JointOneBodyConstraintBuilderSimd {
|
||
pub fn generate(
|
||
joint: [&ImpulseJoint; SIMD_WIDTH],
|
||
bodies: &RigidBodySet,
|
||
joint_id: [JointIndex; SIMD_WIDTH],
|
||
out_builder: &mut Self,
|
||
out_constraint_id: &mut usize,
|
||
) {
|
||
let mut rb1 = gather![|ii| &bodies[joint[ii].body1]];
|
||
let mut rb2 = gather![|ii| &bodies[joint[ii].body2]];
|
||
let mut local_frame1 = gather![|ii| joint[ii].data.local_frame1];
|
||
let mut local_frame2 = gather![|ii| joint[ii].data.local_frame2];
|
||
|
||
for ii in 0..SIMD_WIDTH {
|
||
if !rb2[ii].is_dynamic() {
|
||
std::mem::swap(&mut rb1[ii], &mut rb2[ii]);
|
||
std::mem::swap(&mut local_frame1[ii], &mut local_frame2[ii]);
|
||
}
|
||
}
|
||
|
||
let poss1 = Isometry::from(gather![|ii| rb1[ii].pos.position]);
|
||
|
||
let joint_body1 = JointFixedSolverBody {
|
||
linvel: gather![|ii| rb1[ii].vels.linvel].into(),
|
||
angvel: gather![|ii| rb1[ii].vels.angvel].into(),
|
||
world_com: gather![|ii| rb1[ii].mprops.world_com].into(),
|
||
};
|
||
|
||
*out_builder = Self {
|
||
body1: joint_body1,
|
||
body2: gather![|ii| rb2[ii].ids.active_set_offset],
|
||
joint_id,
|
||
frame1: poss1 * Isometry::from(local_frame1),
|
||
local_frame2: local_frame2.into(),
|
||
locked_axes: joint[0].data.locked_axes.bits(),
|
||
constraint_id: *out_constraint_id,
|
||
};
|
||
|
||
let count = ConstraintsCounts::from_joint(joint[0]);
|
||
*out_constraint_id += count.num_constraints;
|
||
}
|
||
|
||
pub fn update(
|
||
&self,
|
||
params: &IntegrationParameters,
|
||
bodies: &[SolverBody],
|
||
out: &mut [JointOneBodyConstraint<SimdReal, SIMD_WIDTH>],
|
||
) {
|
||
// NOTE: right now, the "update", is basically reconstructing all the
|
||
// constraints. Could we make this more incremental?
|
||
|
||
let rb2 = gather![|ii| &bodies[self.body2[ii]]];
|
||
let frame2 = Isometry::from(gather![|ii| rb2[ii].position]) * self.local_frame2;
|
||
|
||
let joint_body2 = JointSolverBody {
|
||
im: gather![|ii| rb2[ii].im].into(),
|
||
sqrt_ii: gather![|ii| rb2[ii].sqrt_ii].into(),
|
||
world_com: gather![|ii| rb2[ii].world_com].into(),
|
||
solver_vel: self.body2,
|
||
};
|
||
|
||
JointOneBodyConstraint::<SimdReal, SIMD_WIDTH>::lock_axes(
|
||
params,
|
||
self.joint_id,
|
||
&self.body1,
|
||
&joint_body2,
|
||
&self.frame1,
|
||
&frame2,
|
||
self.locked_axes,
|
||
&mut out[self.constraint_id..],
|
||
);
|
||
}
|
||
}
|
||
|
||
#[derive(Debug, Copy, Clone)]
|
||
pub struct JointTwoBodyConstraintHelper<N: SimdRealCopy> {
|
||
pub basis: Matrix<N>,
|
||
pub basis2: Matrix<N>, // TODO: used for angular coupling. Can we avoid storing this?
|
||
pub cmat1_basis: SMatrix<N, ANG_DIM, DIM>,
|
||
pub cmat2_basis: SMatrix<N, ANG_DIM, DIM>,
|
||
pub ang_basis: SMatrix<N, ANG_DIM, ANG_DIM>,
|
||
pub lin_err: Vector<N>,
|
||
pub ang_err: Rotation<N>,
|
||
}
|
||
|
||
impl<N: SimdRealCopy> JointTwoBodyConstraintHelper<N> {
|
||
pub fn new(
|
||
frame1: &Isometry<N>,
|
||
frame2: &Isometry<N>,
|
||
world_com1: &Point<N>,
|
||
world_com2: &Point<N>,
|
||
locked_lin_axes: u8,
|
||
) -> Self {
|
||
let mut frame1 = *frame1;
|
||
let basis = frame1.rotation.to_rotation_matrix().into_inner();
|
||
let lin_err = frame2.translation.vector - frame1.translation.vector;
|
||
|
||
// Adjust the point of application of the force for the first body,
|
||
// by snapping free axes to the second frame’s center (to account for
|
||
// the allowed relative movement).
|
||
{
|
||
let mut new_center1 = frame2.translation.vector; // First, assume all dofs are free.
|
||
|
||
// Then snap the locked ones.
|
||
for i in 0..DIM {
|
||
if locked_lin_axes & (1 << i) != 0 {
|
||
let axis = basis.column(i);
|
||
new_center1 -= axis * lin_err.dot(&axis);
|
||
}
|
||
}
|
||
frame1.translation.vector = new_center1;
|
||
}
|
||
|
||
let r1 = frame1.translation.vector - world_com1.coords;
|
||
let r2 = frame2.translation.vector - world_com2.coords;
|
||
|
||
let cmat1 = r1.gcross_matrix();
|
||
let cmat2 = r2.gcross_matrix();
|
||
|
||
#[allow(unused_mut)] // The mut is needed for 3D
|
||
let mut ang_basis = frame1.rotation.diff_conj1_2(&frame2.rotation).transpose();
|
||
#[allow(unused_mut)] // The mut is needed for 3D
|
||
let mut ang_err = frame1.rotation.inverse() * frame2.rotation;
|
||
|
||
#[cfg(feature = "dim3")]
|
||
{
|
||
let sgn = N::one().simd_copysign(frame1.rotation.dot(&frame2.rotation));
|
||
ang_basis *= sgn;
|
||
*ang_err.as_mut_unchecked() *= sgn;
|
||
}
|
||
|
||
Self {
|
||
basis,
|
||
basis2: frame2.rotation.to_rotation_matrix().into_inner(),
|
||
cmat1_basis: cmat1 * basis,
|
||
cmat2_basis: cmat2 * basis,
|
||
ang_basis,
|
||
lin_err,
|
||
ang_err,
|
||
}
|
||
}
|
||
|
||
pub fn limit_linear<const LANES: usize>(
|
||
&self,
|
||
params: &IntegrationParameters,
|
||
joint_id: [JointIndex; LANES],
|
||
body1: &JointSolverBody<N, LANES>,
|
||
body2: &JointSolverBody<N, LANES>,
|
||
limited_axis: usize,
|
||
limits: [N; 2],
|
||
writeback_id: WritebackId,
|
||
) -> JointTwoBodyConstraint<N, LANES> {
|
||
let zero = N::zero();
|
||
let mut constraint =
|
||
self.lock_linear(params, joint_id, body1, body2, limited_axis, writeback_id);
|
||
|
||
let dist = self.lin_err.dot(&constraint.lin_jac);
|
||
let min_enabled = dist.simd_le(limits[0]);
|
||
let max_enabled = limits[1].simd_le(dist);
|
||
|
||
let erp_inv_dt = N::splat(params.joint_erp_inv_dt());
|
||
let cfm_coeff = N::splat(params.joint_cfm_coeff());
|
||
let rhs_bias =
|
||
((dist - limits[1]).simd_max(zero) - (limits[0] - dist).simd_max(zero)) * erp_inv_dt;
|
||
constraint.rhs = constraint.rhs_wo_bias + rhs_bias;
|
||
constraint.cfm_coeff = cfm_coeff;
|
||
constraint.impulse_bounds = [
|
||
N::splat(-Real::INFINITY).select(min_enabled, zero),
|
||
N::splat(Real::INFINITY).select(max_enabled, zero),
|
||
];
|
||
|
||
constraint
|
||
}
|
||
|
||
pub fn limit_linear_coupled<const LANES: usize>(
|
||
&self,
|
||
params: &IntegrationParameters,
|
||
joint_id: [JointIndex; LANES],
|
||
body1: &JointSolverBody<N, LANES>,
|
||
body2: &JointSolverBody<N, LANES>,
|
||
coupled_axes: u8,
|
||
limits: [N; 2],
|
||
writeback_id: WritebackId,
|
||
) -> JointTwoBodyConstraint<N, LANES> {
|
||
let zero = N::zero();
|
||
let mut lin_jac = Vector::zeros();
|
||
let mut ang_jac1: AngVector<N> = na::zero();
|
||
let mut ang_jac2: AngVector<N> = na::zero();
|
||
|
||
for i in 0..DIM {
|
||
if coupled_axes & (1 << i) != 0 {
|
||
let coeff = self.basis.column(i).dot(&self.lin_err);
|
||
lin_jac += self.basis.column(i) * coeff;
|
||
#[cfg(feature = "dim2")]
|
||
{
|
||
ang_jac1 += self.cmat1_basis[i] * coeff;
|
||
ang_jac2 += self.cmat2_basis[i] * coeff;
|
||
}
|
||
#[cfg(feature = "dim3")]
|
||
{
|
||
ang_jac1 += self.cmat1_basis.column(i) * coeff;
|
||
ang_jac2 += self.cmat2_basis.column(i) * coeff;
|
||
}
|
||
}
|
||
}
|
||
|
||
// FIXME: handle min limit too.
|
||
|
||
let dist = lin_jac.norm();
|
||
let inv_dist = crate::utils::simd_inv(dist);
|
||
lin_jac *= inv_dist;
|
||
ang_jac1 *= inv_dist;
|
||
ang_jac2 *= inv_dist;
|
||
|
||
let rhs_wo_bias = (dist - limits[1]).simd_min(zero) * N::splat(params.inv_dt());
|
||
|
||
ang_jac1 = body1.sqrt_ii * ang_jac1;
|
||
ang_jac2 = body2.sqrt_ii * ang_jac2;
|
||
|
||
let erp_inv_dt = N::splat(params.joint_erp_inv_dt());
|
||
let cfm_coeff = N::splat(params.joint_cfm_coeff());
|
||
let rhs_bias = (dist - limits[1]).simd_max(zero) * erp_inv_dt;
|
||
let rhs = rhs_wo_bias + rhs_bias;
|
||
let impulse_bounds = [N::zero(), N::splat(Real::INFINITY)];
|
||
|
||
JointTwoBodyConstraint {
|
||
joint_id,
|
||
solver_vel1: body1.solver_vel,
|
||
solver_vel2: body2.solver_vel,
|
||
im1: body1.im,
|
||
im2: body2.im,
|
||
impulse: N::zero(),
|
||
impulse_bounds,
|
||
lin_jac,
|
||
ang_jac1,
|
||
ang_jac2,
|
||
inv_lhs: N::zero(), // Will be set during ortogonalization.
|
||
cfm_coeff,
|
||
cfm_gain: N::zero(),
|
||
rhs,
|
||
rhs_wo_bias,
|
||
writeback_id,
|
||
}
|
||
}
|
||
|
||
pub fn motor_linear<const LANES: usize>(
|
||
&self,
|
||
params: &IntegrationParameters,
|
||
joint_id: [JointIndex; LANES],
|
||
body1: &JointSolverBody<N, LANES>,
|
||
body2: &JointSolverBody<N, LANES>,
|
||
motor_axis: usize,
|
||
motor_params: &MotorParameters<N>,
|
||
limits: Option<[N; 2]>,
|
||
writeback_id: WritebackId,
|
||
) -> JointTwoBodyConstraint<N, LANES> {
|
||
let inv_dt = N::splat(params.inv_dt());
|
||
let mut constraint =
|
||
self.lock_linear(params, joint_id, body1, body2, motor_axis, writeback_id);
|
||
|
||
let mut rhs_wo_bias = N::zero();
|
||
if motor_params.erp_inv_dt != N::zero() {
|
||
let dist = self.lin_err.dot(&constraint.lin_jac);
|
||
rhs_wo_bias += (dist - motor_params.target_pos) * motor_params.erp_inv_dt;
|
||
}
|
||
|
||
let mut target_vel = motor_params.target_vel;
|
||
if let Some(limits) = limits {
|
||
let dist = self.lin_err.dot(&constraint.lin_jac);
|
||
target_vel =
|
||
target_vel.simd_clamp((limits[0] - dist) * inv_dt, (limits[1] - dist) * inv_dt);
|
||
};
|
||
|
||
rhs_wo_bias += -target_vel;
|
||
|
||
constraint.cfm_coeff = motor_params.cfm_coeff;
|
||
constraint.cfm_gain = motor_params.cfm_gain;
|
||
constraint.impulse_bounds = [-motor_params.max_impulse, motor_params.max_impulse];
|
||
constraint.rhs = rhs_wo_bias;
|
||
constraint.rhs_wo_bias = rhs_wo_bias;
|
||
constraint
|
||
}
|
||
|
||
pub fn motor_linear_coupled<const LANES: usize>(
|
||
&self,
|
||
params: &IntegrationParameters,
|
||
joint_id: [JointIndex; LANES],
|
||
body1: &JointSolverBody<N, LANES>,
|
||
body2: &JointSolverBody<N, LANES>,
|
||
coupled_axes: u8,
|
||
motor_params: &MotorParameters<N>,
|
||
limits: Option<[N; 2]>,
|
||
writeback_id: WritebackId,
|
||
) -> JointTwoBodyConstraint<N, LANES> {
|
||
let inv_dt = N::splat(params.inv_dt());
|
||
|
||
let mut lin_jac = Vector::zeros();
|
||
let mut ang_jac1: AngVector<N> = na::zero();
|
||
let mut ang_jac2: AngVector<N> = na::zero();
|
||
|
||
for i in 0..DIM {
|
||
if coupled_axes & (1 << i) != 0 {
|
||
let coeff = self.basis.column(i).dot(&self.lin_err);
|
||
lin_jac += self.basis.column(i) * coeff;
|
||
#[cfg(feature = "dim2")]
|
||
{
|
||
ang_jac1 += self.cmat1_basis[i] * coeff;
|
||
ang_jac2 += self.cmat2_basis[i] * coeff;
|
||
}
|
||
#[cfg(feature = "dim3")]
|
||
{
|
||
ang_jac1 += self.cmat1_basis.column(i) * coeff;
|
||
ang_jac2 += self.cmat2_basis.column(i) * coeff;
|
||
}
|
||
}
|
||
}
|
||
|
||
let dist = lin_jac.norm();
|
||
let inv_dist = crate::utils::simd_inv(dist);
|
||
lin_jac *= inv_dist;
|
||
ang_jac1 *= inv_dist;
|
||
ang_jac2 *= inv_dist;
|
||
|
||
let mut rhs_wo_bias = N::zero();
|
||
if motor_params.erp_inv_dt != N::zero() {
|
||
rhs_wo_bias += (dist - motor_params.target_pos) * motor_params.erp_inv_dt;
|
||
}
|
||
|
||
let mut target_vel = motor_params.target_vel;
|
||
if let Some(limits) = limits {
|
||
target_vel =
|
||
target_vel.simd_clamp((limits[0] - dist) * inv_dt, (limits[1] - dist) * inv_dt);
|
||
};
|
||
|
||
rhs_wo_bias += -target_vel;
|
||
|
||
ang_jac1 = body1.sqrt_ii * ang_jac1;
|
||
ang_jac2 = body2.sqrt_ii * ang_jac2;
|
||
|
||
JointTwoBodyConstraint {
|
||
joint_id,
|
||
solver_vel1: body1.solver_vel,
|
||
solver_vel2: body2.solver_vel,
|
||
im1: body1.im,
|
||
im2: body2.im,
|
||
impulse: N::zero(),
|
||
impulse_bounds: [-motor_params.max_impulse, motor_params.max_impulse],
|
||
lin_jac,
|
||
ang_jac1,
|
||
ang_jac2,
|
||
inv_lhs: N::zero(), // Will be set during ortogonalization.
|
||
cfm_coeff: motor_params.cfm_coeff,
|
||
cfm_gain: motor_params.cfm_gain,
|
||
rhs: rhs_wo_bias,
|
||
rhs_wo_bias,
|
||
writeback_id,
|
||
}
|
||
}
|
||
|
||
pub fn lock_linear<const LANES: usize>(
|
||
&self,
|
||
params: &IntegrationParameters,
|
||
joint_id: [JointIndex; LANES],
|
||
body1: &JointSolverBody<N, LANES>,
|
||
body2: &JointSolverBody<N, LANES>,
|
||
locked_axis: usize,
|
||
writeback_id: WritebackId,
|
||
) -> JointTwoBodyConstraint<N, LANES> {
|
||
let lin_jac = self.basis.column(locked_axis).into_owned();
|
||
#[cfg(feature = "dim2")]
|
||
let mut ang_jac1 = self.cmat1_basis[locked_axis];
|
||
#[cfg(feature = "dim2")]
|
||
let mut ang_jac2 = self.cmat2_basis[locked_axis];
|
||
#[cfg(feature = "dim3")]
|
||
let mut ang_jac1 = self.cmat1_basis.column(locked_axis).into_owned();
|
||
#[cfg(feature = "dim3")]
|
||
let mut ang_jac2 = self.cmat2_basis.column(locked_axis).into_owned();
|
||
|
||
let rhs_wo_bias = N::zero();
|
||
let erp_inv_dt = N::splat(params.joint_erp_inv_dt());
|
||
let cfm_coeff = N::splat(params.joint_cfm_coeff());
|
||
let rhs_bias = lin_jac.dot(&self.lin_err) * erp_inv_dt;
|
||
|
||
ang_jac1 = body1.sqrt_ii * ang_jac1;
|
||
ang_jac2 = body2.sqrt_ii * ang_jac2;
|
||
|
||
JointTwoBodyConstraint {
|
||
joint_id,
|
||
solver_vel1: body1.solver_vel,
|
||
solver_vel2: body2.solver_vel,
|
||
im1: body1.im,
|
||
im2: body2.im,
|
||
impulse: N::zero(),
|
||
impulse_bounds: [-N::splat(Real::MAX), N::splat(Real::MAX)],
|
||
lin_jac,
|
||
ang_jac1,
|
||
ang_jac2,
|
||
inv_lhs: N::zero(), // Will be set during ortogonalization.
|
||
cfm_coeff,
|
||
cfm_gain: N::zero(),
|
||
rhs: rhs_wo_bias + rhs_bias,
|
||
rhs_wo_bias,
|
||
writeback_id,
|
||
}
|
||
}
|
||
|
||
pub fn limit_angular<const LANES: usize>(
|
||
&self,
|
||
params: &IntegrationParameters,
|
||
joint_id: [JointIndex; LANES],
|
||
body1: &JointSolverBody<N, LANES>,
|
||
body2: &JointSolverBody<N, LANES>,
|
||
_limited_axis: usize,
|
||
limits: [N; 2],
|
||
writeback_id: WritebackId,
|
||
) -> JointTwoBodyConstraint<N, LANES> {
|
||
let zero = N::zero();
|
||
let half = N::splat(0.5);
|
||
let s_limits = [(limits[0] * half).simd_sin(), (limits[1] * half).simd_sin()];
|
||
#[cfg(feature = "dim2")]
|
||
let s_ang = (self.ang_err.angle() * half).simd_sin();
|
||
#[cfg(feature = "dim3")]
|
||
let s_ang = self.ang_err.imag()[_limited_axis];
|
||
let min_enabled = s_ang.simd_le(s_limits[0]);
|
||
let max_enabled = s_limits[1].simd_le(s_ang);
|
||
|
||
let impulse_bounds = [
|
||
N::splat(-Real::INFINITY).select(min_enabled, zero),
|
||
N::splat(Real::INFINITY).select(max_enabled, zero),
|
||
];
|
||
|
||
#[cfg(feature = "dim2")]
|
||
let ang_jac = N::one();
|
||
#[cfg(feature = "dim3")]
|
||
let ang_jac = self.ang_basis.column(_limited_axis).into_owned();
|
||
let rhs_wo_bias = N::zero();
|
||
let erp_inv_dt = N::splat(params.joint_erp_inv_dt());
|
||
let cfm_coeff = N::splat(params.joint_cfm_coeff());
|
||
let rhs_bias = ((s_ang - s_limits[1]).simd_max(zero)
|
||
- (s_limits[0] - s_ang).simd_max(zero))
|
||
* erp_inv_dt;
|
||
|
||
let ang_jac1 = body1.sqrt_ii * ang_jac;
|
||
let ang_jac2 = body2.sqrt_ii * ang_jac;
|
||
|
||
JointTwoBodyConstraint {
|
||
joint_id,
|
||
solver_vel1: body1.solver_vel,
|
||
solver_vel2: body2.solver_vel,
|
||
im1: body1.im,
|
||
im2: body2.im,
|
||
impulse: N::zero(),
|
||
impulse_bounds,
|
||
lin_jac: na::zero(),
|
||
ang_jac1,
|
||
ang_jac2,
|
||
inv_lhs: N::zero(), // Will be set during ortogonalization.
|
||
cfm_coeff,
|
||
cfm_gain: N::zero(),
|
||
rhs: rhs_wo_bias + rhs_bias,
|
||
rhs_wo_bias,
|
||
writeback_id,
|
||
}
|
||
}
|
||
|
||
pub fn motor_angular<const LANES: usize>(
|
||
&self,
|
||
joint_id: [JointIndex; LANES],
|
||
body1: &JointSolverBody<N, LANES>,
|
||
body2: &JointSolverBody<N, LANES>,
|
||
_motor_axis: usize,
|
||
motor_params: &MotorParameters<N>,
|
||
writeback_id: WritebackId,
|
||
) -> JointTwoBodyConstraint<N, LANES> {
|
||
#[cfg(feature = "dim2")]
|
||
let ang_jac = N::one();
|
||
#[cfg(feature = "dim3")]
|
||
let ang_jac = self.basis.column(_motor_axis).into_owned();
|
||
|
||
let mut rhs_wo_bias = N::zero();
|
||
if motor_params.erp_inv_dt != N::zero() {
|
||
#[cfg(feature = "dim2")]
|
||
let ang_dist = self.ang_err.angle();
|
||
#[cfg(feature = "dim3")]
|
||
let ang_dist = self.ang_err.imag()[_motor_axis].simd_asin() * N::splat(2.0);
|
||
let target_ang = motor_params.target_pos;
|
||
rhs_wo_bias += utils::smallest_abs_diff_between_angles(ang_dist, target_ang)
|
||
* motor_params.erp_inv_dt;
|
||
}
|
||
|
||
rhs_wo_bias += -motor_params.target_vel;
|
||
|
||
let ang_jac1 = body1.sqrt_ii * ang_jac;
|
||
let ang_jac2 = body2.sqrt_ii * ang_jac;
|
||
|
||
JointTwoBodyConstraint {
|
||
joint_id,
|
||
solver_vel1: body1.solver_vel,
|
||
solver_vel2: body2.solver_vel,
|
||
im1: body1.im,
|
||
im2: body2.im,
|
||
impulse: N::zero(),
|
||
impulse_bounds: [-motor_params.max_impulse, motor_params.max_impulse],
|
||
lin_jac: na::zero(),
|
||
ang_jac1,
|
||
ang_jac2,
|
||
inv_lhs: N::zero(), // Will be set during ortogonalization.
|
||
cfm_coeff: motor_params.cfm_coeff,
|
||
cfm_gain: motor_params.cfm_gain,
|
||
rhs: rhs_wo_bias,
|
||
rhs_wo_bias,
|
||
writeback_id,
|
||
}
|
||
}
|
||
|
||
pub fn lock_angular<const LANES: usize>(
|
||
&self,
|
||
params: &IntegrationParameters,
|
||
joint_id: [JointIndex; LANES],
|
||
body1: &JointSolverBody<N, LANES>,
|
||
body2: &JointSolverBody<N, LANES>,
|
||
_locked_axis: usize,
|
||
writeback_id: WritebackId,
|
||
) -> JointTwoBodyConstraint<N, LANES> {
|
||
#[cfg(feature = "dim2")]
|
||
let ang_jac = N::one();
|
||
#[cfg(feature = "dim3")]
|
||
let ang_jac = self.ang_basis.column(_locked_axis).into_owned();
|
||
|
||
let rhs_wo_bias = N::zero();
|
||
let erp_inv_dt = N::splat(params.joint_erp_inv_dt());
|
||
let cfm_coeff = N::splat(params.joint_cfm_coeff());
|
||
#[cfg(feature = "dim2")]
|
||
let rhs_bias = self.ang_err.im * erp_inv_dt;
|
||
#[cfg(feature = "dim3")]
|
||
let rhs_bias = self.ang_err.imag()[_locked_axis] * erp_inv_dt;
|
||
|
||
let ang_jac1 = body1.sqrt_ii * ang_jac;
|
||
let ang_jac2 = body2.sqrt_ii * ang_jac;
|
||
|
||
JointTwoBodyConstraint {
|
||
joint_id,
|
||
solver_vel1: body1.solver_vel,
|
||
solver_vel2: body2.solver_vel,
|
||
im1: body1.im,
|
||
im2: body2.im,
|
||
impulse: N::zero(),
|
||
impulse_bounds: [-N::splat(Real::MAX), N::splat(Real::MAX)],
|
||
lin_jac: na::zero(),
|
||
ang_jac1,
|
||
ang_jac2,
|
||
inv_lhs: N::zero(), // Will be set during ortogonalization.
|
||
cfm_coeff,
|
||
cfm_gain: N::zero(),
|
||
rhs: rhs_wo_bias + rhs_bias,
|
||
rhs_wo_bias,
|
||
writeback_id,
|
||
}
|
||
}
|
||
|
||
/// Orthogonalize the constraints and set their inv_lhs field.
|
||
pub fn finalize_constraints<const LANES: usize>(
|
||
constraints: &mut [JointTwoBodyConstraint<N, LANES>],
|
||
) {
|
||
let len = constraints.len();
|
||
|
||
if len == 0 {
|
||
return;
|
||
}
|
||
|
||
let imsum = constraints[0].im1 + constraints[0].im2;
|
||
|
||
// Use the modified Gram-Schmidt orthogonalization.
|
||
for j in 0..len {
|
||
let c_j = &mut constraints[j];
|
||
let dot_jj = c_j.lin_jac.dot(&imsum.component_mul(&c_j.lin_jac))
|
||
+ c_j.ang_jac1.gdot(c_j.ang_jac1)
|
||
+ c_j.ang_jac2.gdot(c_j.ang_jac2);
|
||
let cfm_gain = dot_jj * c_j.cfm_coeff + c_j.cfm_gain;
|
||
let inv_dot_jj = crate::utils::simd_inv(dot_jj);
|
||
c_j.inv_lhs = crate::utils::simd_inv(dot_jj + cfm_gain); // Don’t forget to update the inv_lhs.
|
||
c_j.cfm_gain = cfm_gain;
|
||
|
||
if c_j.impulse_bounds != [-N::splat(Real::MAX), N::splat(Real::MAX)] {
|
||
// Don't remove constraints with limited forces from the others
|
||
// because they may not deliver the necessary forces to fulfill
|
||
// the removed parts of other constraints.
|
||
continue;
|
||
}
|
||
|
||
for i in (j + 1)..len {
|
||
let (c_i, c_j) = constraints.index_mut_const(i, j);
|
||
|
||
let dot_ij = c_i.lin_jac.dot(&imsum.component_mul(&c_j.lin_jac))
|
||
+ c_i.ang_jac1.gdot(c_j.ang_jac1)
|
||
+ c_i.ang_jac2.gdot(c_j.ang_jac2);
|
||
let coeff = dot_ij * inv_dot_jj;
|
||
|
||
c_i.lin_jac -= c_j.lin_jac * coeff;
|
||
c_i.ang_jac1 -= c_j.ang_jac1 * coeff;
|
||
c_i.ang_jac2 -= c_j.ang_jac2 * coeff;
|
||
c_i.rhs_wo_bias -= c_j.rhs_wo_bias * coeff;
|
||
c_i.rhs -= c_j.rhs * coeff;
|
||
}
|
||
}
|
||
}
|
||
|
||
pub fn limit_linear_one_body<const LANES: usize>(
|
||
&self,
|
||
params: &IntegrationParameters,
|
||
joint_id: [JointIndex; LANES],
|
||
body1: &JointFixedSolverBody<N>,
|
||
body2: &JointSolverBody<N, LANES>,
|
||
limited_axis: usize,
|
||
limits: [N; 2],
|
||
writeback_id: WritebackId,
|
||
) -> JointOneBodyConstraint<N, LANES> {
|
||
let zero = N::zero();
|
||
let lin_jac = self.basis.column(limited_axis).into_owned();
|
||
let dist = self.lin_err.dot(&lin_jac);
|
||
|
||
let min_enabled = dist.simd_le(limits[0]);
|
||
let max_enabled = limits[1].simd_le(dist);
|
||
|
||
let impulse_bounds = [
|
||
N::splat(-Real::INFINITY).select(min_enabled, zero),
|
||
N::splat(Real::INFINITY).select(max_enabled, zero),
|
||
];
|
||
|
||
let ang_jac1 = self.cmat1_basis.column(limited_axis).into_owned();
|
||
#[cfg(feature = "dim2")]
|
||
let mut ang_jac2 = self.cmat2_basis[limited_axis];
|
||
#[cfg(feature = "dim3")]
|
||
let mut ang_jac2 = self.cmat2_basis.column(limited_axis).into_owned();
|
||
|
||
let rhs_wo_bias = -lin_jac.dot(&body1.linvel) - ang_jac1.gdot(body1.angvel);
|
||
let erp_inv_dt = N::splat(params.joint_erp_inv_dt());
|
||
let cfm_coeff = N::splat(params.joint_cfm_coeff());
|
||
let rhs_bias =
|
||
((dist - limits[1]).simd_max(zero) - (limits[0] - dist).simd_max(zero)) * erp_inv_dt;
|
||
|
||
ang_jac2 = body2.sqrt_ii * ang_jac2;
|
||
|
||
JointOneBodyConstraint {
|
||
joint_id,
|
||
solver_vel2: body2.solver_vel,
|
||
im2: body2.im,
|
||
impulse: zero,
|
||
impulse_bounds,
|
||
lin_jac,
|
||
ang_jac2,
|
||
inv_lhs: zero, // Will be set during ortogonalization.
|
||
cfm_coeff,
|
||
cfm_gain: N::zero(),
|
||
rhs: rhs_wo_bias + rhs_bias,
|
||
rhs_wo_bias,
|
||
writeback_id,
|
||
}
|
||
}
|
||
|
||
pub fn limit_linear_coupled_one_body<const LANES: usize>(
|
||
&self,
|
||
params: &IntegrationParameters,
|
||
joint_id: [JointIndex; LANES],
|
||
body1: &JointFixedSolverBody<N>,
|
||
body2: &JointSolverBody<N, LANES>,
|
||
coupled_axes: u8,
|
||
limits: [N; 2],
|
||
writeback_id: WritebackId,
|
||
) -> JointOneBodyConstraint<N, LANES> {
|
||
let zero = N::zero();
|
||
let mut lin_jac = Vector::zeros();
|
||
let mut ang_jac1: AngVector<N> = na::zero();
|
||
let mut ang_jac2: AngVector<N> = na::zero();
|
||
|
||
for i in 0..DIM {
|
||
if coupled_axes & (1 << i) != 0 {
|
||
let coeff = self.basis.column(i).dot(&self.lin_err);
|
||
lin_jac += self.basis.column(i) * coeff;
|
||
#[cfg(feature = "dim2")]
|
||
{
|
||
ang_jac1 += self.cmat1_basis[i] * coeff;
|
||
ang_jac2 += self.cmat2_basis[i] * coeff;
|
||
}
|
||
#[cfg(feature = "dim3")]
|
||
{
|
||
ang_jac1 += self.cmat1_basis.column(i) * coeff;
|
||
ang_jac2 += self.cmat2_basis.column(i) * coeff;
|
||
}
|
||
}
|
||
}
|
||
|
||
let dist = lin_jac.norm();
|
||
let inv_dist = crate::utils::simd_inv(dist);
|
||
lin_jac *= inv_dist;
|
||
ang_jac1 *= inv_dist;
|
||
ang_jac2 *= inv_dist;
|
||
|
||
// FIXME: handle min limit too.
|
||
let proj_vel1 = -lin_jac.dot(&body1.linvel) - ang_jac1.gdot(body1.angvel);
|
||
let rhs_wo_bias = proj_vel1 + (dist - limits[1]).simd_min(zero) * N::splat(params.inv_dt());
|
||
|
||
ang_jac2 = body2.sqrt_ii * ang_jac2;
|
||
|
||
let erp_inv_dt = N::splat(params.joint_erp_inv_dt());
|
||
let cfm_coeff = N::splat(params.joint_cfm_coeff());
|
||
let rhs_bias = (dist - limits[1]).simd_max(zero) * erp_inv_dt;
|
||
let rhs = rhs_wo_bias + rhs_bias;
|
||
let impulse_bounds = [N::zero(), N::splat(Real::INFINITY)];
|
||
|
||
JointOneBodyConstraint {
|
||
joint_id,
|
||
solver_vel2: body2.solver_vel,
|
||
im2: body2.im,
|
||
impulse: N::zero(),
|
||
impulse_bounds,
|
||
lin_jac,
|
||
ang_jac2,
|
||
inv_lhs: N::zero(), // Will be set during ortogonalization.
|
||
cfm_coeff,
|
||
cfm_gain: N::zero(),
|
||
rhs,
|
||
rhs_wo_bias,
|
||
writeback_id,
|
||
}
|
||
}
|
||
|
||
pub fn motor_linear_one_body<const LANES: usize>(
|
||
&self,
|
||
params: &IntegrationParameters,
|
||
joint_id: [JointIndex; LANES],
|
||
body1: &JointFixedSolverBody<N>,
|
||
body2: &JointSolverBody<N, LANES>,
|
||
motor_axis: usize,
|
||
motor_params: &MotorParameters<N>,
|
||
limits: Option<[N; 2]>,
|
||
writeback_id: WritebackId,
|
||
) -> JointOneBodyConstraint<N, LANES> {
|
||
let inv_dt = N::splat(params.inv_dt());
|
||
|
||
let lin_jac = self.basis.column(motor_axis).into_owned();
|
||
let ang_jac1 = self.cmat1_basis.column(motor_axis).into_owned();
|
||
#[cfg(feature = "dim2")]
|
||
let mut ang_jac2 = self.cmat2_basis[motor_axis];
|
||
#[cfg(feature = "dim3")]
|
||
let mut ang_jac2 = self.cmat2_basis.column(motor_axis).into_owned();
|
||
|
||
let mut rhs_wo_bias = N::zero();
|
||
if motor_params.erp_inv_dt != N::zero() {
|
||
let dist = self.lin_err.dot(&lin_jac);
|
||
rhs_wo_bias += (dist - motor_params.target_pos) * motor_params.erp_inv_dt;
|
||
}
|
||
|
||
let mut target_vel = motor_params.target_vel;
|
||
if let Some(limits) = limits {
|
||
let dist = self.lin_err.dot(&lin_jac);
|
||
target_vel =
|
||
target_vel.simd_clamp((limits[0] - dist) * inv_dt, (limits[1] - dist) * inv_dt);
|
||
};
|
||
|
||
let proj_vel1 = -lin_jac.dot(&body1.linvel) - ang_jac1.gdot(body1.angvel);
|
||
rhs_wo_bias += proj_vel1 - target_vel;
|
||
|
||
ang_jac2 = body2.sqrt_ii * ang_jac2;
|
||
|
||
JointOneBodyConstraint {
|
||
joint_id,
|
||
solver_vel2: body2.solver_vel,
|
||
im2: body2.im,
|
||
impulse: N::zero(),
|
||
impulse_bounds: [-motor_params.max_impulse, motor_params.max_impulse],
|
||
lin_jac,
|
||
ang_jac2,
|
||
inv_lhs: N::zero(), // Will be set during ortogonalization.
|
||
cfm_coeff: motor_params.cfm_coeff,
|
||
cfm_gain: motor_params.cfm_gain,
|
||
rhs: rhs_wo_bias,
|
||
rhs_wo_bias,
|
||
writeback_id,
|
||
}
|
||
}
|
||
|
||
pub fn motor_linear_coupled_one_body<const LANES: usize>(
|
||
&self,
|
||
params: &IntegrationParameters,
|
||
joint_id: [JointIndex; LANES],
|
||
body1: &JointFixedSolverBody<N>,
|
||
body2: &JointSolverBody<N, LANES>,
|
||
coupled_axes: u8,
|
||
motor_params: &MotorParameters<N>,
|
||
limits: Option<[N; 2]>,
|
||
writeback_id: WritebackId,
|
||
) -> JointOneBodyConstraint<N, LANES> {
|
||
let inv_dt = N::splat(params.inv_dt());
|
||
|
||
let mut lin_jac = Vector::zeros();
|
||
let mut ang_jac1: AngVector<N> = na::zero();
|
||
let mut ang_jac2: AngVector<N> = na::zero();
|
||
|
||
for i in 0..DIM {
|
||
if coupled_axes & (1 << i) != 0 {
|
||
let coeff = self.basis.column(i).dot(&self.lin_err);
|
||
lin_jac += self.basis.column(i) * coeff;
|
||
#[cfg(feature = "dim2")]
|
||
{
|
||
ang_jac1 += self.cmat1_basis[i] * coeff;
|
||
ang_jac2 += self.cmat2_basis[i] * coeff;
|
||
}
|
||
#[cfg(feature = "dim3")]
|
||
{
|
||
ang_jac1 += self.cmat1_basis.column(i) * coeff;
|
||
ang_jac2 += self.cmat2_basis.column(i) * coeff;
|
||
}
|
||
}
|
||
}
|
||
|
||
let dist = lin_jac.norm();
|
||
let inv_dist = crate::utils::simd_inv(dist);
|
||
lin_jac *= inv_dist;
|
||
ang_jac1 *= inv_dist;
|
||
ang_jac2 *= inv_dist;
|
||
|
||
let mut rhs_wo_bias = N::zero();
|
||
if motor_params.erp_inv_dt != N::zero() {
|
||
rhs_wo_bias += (dist - motor_params.target_pos) * motor_params.erp_inv_dt;
|
||
}
|
||
|
||
let mut target_vel = motor_params.target_vel;
|
||
if let Some(limits) = limits {
|
||
target_vel =
|
||
target_vel.simd_clamp((limits[0] - dist) * inv_dt, (limits[1] - dist) * inv_dt);
|
||
};
|
||
|
||
let proj_vel1 = -lin_jac.dot(&body1.linvel) - ang_jac1.gdot(body1.angvel);
|
||
rhs_wo_bias += proj_vel1 - target_vel;
|
||
|
||
ang_jac2 = body2.sqrt_ii * ang_jac2;
|
||
|
||
JointOneBodyConstraint {
|
||
joint_id,
|
||
solver_vel2: body2.solver_vel,
|
||
im2: body2.im,
|
||
impulse: N::zero(),
|
||
impulse_bounds: [-motor_params.max_impulse, motor_params.max_impulse],
|
||
lin_jac,
|
||
ang_jac2,
|
||
inv_lhs: N::zero(), // Will be set during ortogonalization.
|
||
cfm_coeff: motor_params.cfm_coeff,
|
||
cfm_gain: motor_params.cfm_gain,
|
||
rhs: rhs_wo_bias,
|
||
rhs_wo_bias,
|
||
writeback_id,
|
||
}
|
||
}
|
||
|
||
pub fn lock_linear_one_body<const LANES: usize>(
|
||
&self,
|
||
params: &IntegrationParameters,
|
||
joint_id: [JointIndex; LANES],
|
||
body1: &JointFixedSolverBody<N>,
|
||
body2: &JointSolverBody<N, LANES>,
|
||
locked_axis: usize,
|
||
writeback_id: WritebackId,
|
||
) -> JointOneBodyConstraint<N, LANES> {
|
||
let lin_jac = self.basis.column(locked_axis).into_owned();
|
||
let ang_jac1 = self.cmat1_basis.column(locked_axis).into_owned();
|
||
#[cfg(feature = "dim2")]
|
||
let mut ang_jac2 = self.cmat2_basis[locked_axis];
|
||
#[cfg(feature = "dim3")]
|
||
let mut ang_jac2 = self.cmat2_basis.column(locked_axis).into_owned();
|
||
|
||
let rhs_wo_bias = -lin_jac.dot(&body1.linvel) - ang_jac1.gdot(body1.angvel);
|
||
|
||
let erp_inv_dt = N::splat(params.joint_erp_inv_dt());
|
||
let cfm_coeff = N::splat(params.joint_cfm_coeff());
|
||
let rhs_bias = lin_jac.dot(&self.lin_err) * erp_inv_dt;
|
||
|
||
ang_jac2 = body2.sqrt_ii * ang_jac2;
|
||
|
||
JointOneBodyConstraint {
|
||
joint_id,
|
||
solver_vel2: body2.solver_vel,
|
||
im2: body2.im,
|
||
impulse: N::zero(),
|
||
impulse_bounds: [-N::splat(Real::MAX), N::splat(Real::MAX)],
|
||
lin_jac,
|
||
ang_jac2,
|
||
inv_lhs: N::zero(), // Will be set during ortogonalization.
|
||
cfm_coeff,
|
||
cfm_gain: N::zero(),
|
||
rhs: rhs_wo_bias + rhs_bias,
|
||
rhs_wo_bias,
|
||
writeback_id,
|
||
}
|
||
}
|
||
|
||
pub fn motor_angular_one_body<const LANES: usize>(
|
||
&self,
|
||
joint_id: [JointIndex; LANES],
|
||
body1: &JointFixedSolverBody<N>,
|
||
body2: &JointSolverBody<N, LANES>,
|
||
_motor_axis: usize,
|
||
motor_params: &MotorParameters<N>,
|
||
writeback_id: WritebackId,
|
||
) -> JointOneBodyConstraint<N, LANES> {
|
||
#[cfg(feature = "dim2")]
|
||
let ang_jac = N::one();
|
||
#[cfg(feature = "dim3")]
|
||
let ang_jac = self.basis.column(_motor_axis).into_owned();
|
||
|
||
let mut rhs_wo_bias = N::zero();
|
||
if motor_params.erp_inv_dt != N::zero() {
|
||
#[cfg(feature = "dim2")]
|
||
let ang_dist = self.ang_err.angle();
|
||
#[cfg(feature = "dim3")]
|
||
let ang_dist = self.ang_err.imag()[_motor_axis].simd_asin() * N::splat(2.0);
|
||
let target_ang = motor_params.target_pos;
|
||
rhs_wo_bias += utils::smallest_abs_diff_between_angles(ang_dist, target_ang)
|
||
* motor_params.erp_inv_dt;
|
||
}
|
||
|
||
let proj_vel1 = -ang_jac.gdot(body1.angvel);
|
||
rhs_wo_bias += proj_vel1 - motor_params.target_vel;
|
||
|
||
let ang_jac2 = body2.sqrt_ii * ang_jac;
|
||
|
||
JointOneBodyConstraint {
|
||
joint_id,
|
||
solver_vel2: body2.solver_vel,
|
||
im2: body2.im,
|
||
impulse: N::zero(),
|
||
impulse_bounds: [-motor_params.max_impulse, motor_params.max_impulse],
|
||
lin_jac: na::zero(),
|
||
ang_jac2,
|
||
inv_lhs: N::zero(), // Will be set during ortogonalization.
|
||
cfm_coeff: motor_params.cfm_coeff,
|
||
cfm_gain: motor_params.cfm_gain,
|
||
rhs: rhs_wo_bias,
|
||
rhs_wo_bias,
|
||
writeback_id,
|
||
}
|
||
}
|
||
|
||
pub fn limit_angular_one_body<const LANES: usize>(
|
||
&self,
|
||
params: &IntegrationParameters,
|
||
joint_id: [JointIndex; LANES],
|
||
body1: &JointFixedSolverBody<N>,
|
||
body2: &JointSolverBody<N, LANES>,
|
||
_limited_axis: usize,
|
||
limits: [N; 2],
|
||
writeback_id: WritebackId,
|
||
) -> JointOneBodyConstraint<N, LANES> {
|
||
let zero = N::zero();
|
||
let half = N::splat(0.5);
|
||
let s_limits = [(limits[0] * half).simd_sin(), (limits[1] * half).simd_sin()];
|
||
#[cfg(feature = "dim2")]
|
||
let s_ang = (self.ang_err.angle() * half).simd_sin();
|
||
#[cfg(feature = "dim3")]
|
||
let s_ang = self.ang_err.imag()[_limited_axis];
|
||
let min_enabled = s_ang.simd_le(s_limits[0]);
|
||
let max_enabled = s_limits[1].simd_le(s_ang);
|
||
|
||
let impulse_bounds = [
|
||
N::splat(-Real::INFINITY).select(min_enabled, zero),
|
||
N::splat(Real::INFINITY).select(max_enabled, zero),
|
||
];
|
||
|
||
#[cfg(feature = "dim2")]
|
||
let ang_jac = N::one();
|
||
#[cfg(feature = "dim3")]
|
||
let ang_jac = self.ang_basis.column(_limited_axis).into_owned();
|
||
let rhs_wo_bias = -ang_jac.gdot(body1.angvel);
|
||
|
||
let erp_inv_dt = N::splat(params.joint_erp_inv_dt());
|
||
let cfm_coeff = N::splat(params.joint_cfm_coeff());
|
||
let rhs_bias = ((s_ang - s_limits[1]).simd_max(zero)
|
||
- (s_limits[0] - s_ang).simd_max(zero))
|
||
* erp_inv_dt;
|
||
|
||
let ang_jac2 = body2.sqrt_ii * ang_jac;
|
||
|
||
JointOneBodyConstraint {
|
||
joint_id,
|
||
solver_vel2: body2.solver_vel,
|
||
im2: body2.im,
|
||
impulse: zero,
|
||
impulse_bounds,
|
||
lin_jac: na::zero(),
|
||
ang_jac2,
|
||
inv_lhs: zero, // Will be set during ortogonalization.
|
||
cfm_coeff,
|
||
cfm_gain: N::zero(),
|
||
rhs: rhs_wo_bias + rhs_bias,
|
||
rhs_wo_bias,
|
||
writeback_id,
|
||
}
|
||
}
|
||
|
||
pub fn lock_angular_one_body<const LANES: usize>(
|
||
&self,
|
||
params: &IntegrationParameters,
|
||
joint_id: [JointIndex; LANES],
|
||
body1: &JointFixedSolverBody<N>,
|
||
body2: &JointSolverBody<N, LANES>,
|
||
_locked_axis: usize,
|
||
writeback_id: WritebackId,
|
||
) -> JointOneBodyConstraint<N, LANES> {
|
||
#[cfg(feature = "dim2")]
|
||
let ang_jac = N::one();
|
||
#[cfg(feature = "dim3")]
|
||
let ang_jac = self.ang_basis.column(_locked_axis).into_owned();
|
||
|
||
let rhs_wo_bias = -ang_jac.gdot(body1.angvel);
|
||
|
||
let erp_inv_dt = N::splat(params.joint_erp_inv_dt());
|
||
let cfm_coeff = N::splat(params.joint_cfm_coeff());
|
||
#[cfg(feature = "dim2")]
|
||
let rhs_bias = self.ang_err.im * erp_inv_dt;
|
||
#[cfg(feature = "dim3")]
|
||
let rhs_bias = self.ang_err.imag()[_locked_axis] * erp_inv_dt;
|
||
|
||
let ang_jac2 = body2.sqrt_ii * ang_jac;
|
||
|
||
JointOneBodyConstraint {
|
||
joint_id,
|
||
solver_vel2: body2.solver_vel,
|
||
im2: body2.im,
|
||
impulse: N::zero(),
|
||
impulse_bounds: [-N::splat(Real::MAX), N::splat(Real::MAX)],
|
||
lin_jac: na::zero(),
|
||
ang_jac2,
|
||
inv_lhs: N::zero(), // Will be set during ortogonalization.
|
||
cfm_coeff,
|
||
cfm_gain: N::zero(),
|
||
rhs: rhs_wo_bias + rhs_bias,
|
||
rhs_wo_bias,
|
||
writeback_id,
|
||
}
|
||
}
|
||
|
||
/// Orthogonalize the constraints and set their inv_lhs field.
|
||
pub fn finalize_one_body_constraints<const LANES: usize>(
|
||
constraints: &mut [JointOneBodyConstraint<N, LANES>],
|
||
) {
|
||
let len = constraints.len();
|
||
|
||
if len == 0 {
|
||
return;
|
||
}
|
||
|
||
let imsum = constraints[0].im2;
|
||
|
||
// Use the modified Gram-Schmidt orthogonalization.
|
||
for j in 0..len {
|
||
let c_j = &mut constraints[j];
|
||
let dot_jj = c_j.lin_jac.dot(&imsum.component_mul(&c_j.lin_jac))
|
||
+ c_j.ang_jac2.gdot(c_j.ang_jac2);
|
||
let cfm_gain = dot_jj * c_j.cfm_coeff + c_j.cfm_gain;
|
||
let inv_dot_jj = crate::utils::simd_inv(dot_jj);
|
||
c_j.inv_lhs = crate::utils::simd_inv(dot_jj + cfm_gain); // Don’t forget to update the inv_lhs.
|
||
c_j.cfm_gain = cfm_gain;
|
||
|
||
if c_j.impulse_bounds != [-N::splat(Real::MAX), N::splat(Real::MAX)] {
|
||
// Don't remove constraints with limited forces from the others
|
||
// because they may not deliver the necessary forces to fulfill
|
||
// the removed parts of other constraints.
|
||
continue;
|
||
}
|
||
|
||
for i in j + 1..len {
|
||
let (c_i, c_j) = constraints.index_mut_const(i, j);
|
||
|
||
let dot_ij = c_i.lin_jac.dot(&imsum.component_mul(&c_j.lin_jac))
|
||
+ c_i.ang_jac2.gdot(c_j.ang_jac2);
|
||
let coeff = dot_ij * inv_dot_jj;
|
||
|
||
c_i.lin_jac -= c_j.lin_jac * coeff;
|
||
c_i.ang_jac2 -= c_j.ang_jac2 * coeff;
|
||
c_i.rhs_wo_bias -= c_j.rhs_wo_bias * coeff;
|
||
c_i.rhs -= c_j.rhs * coeff;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
impl JointTwoBodyConstraintHelper<Real> {
|
||
// TODO: this method is almost identical to the one_body version, except for the
|
||
// return type. Could they share their implementation somehow?
|
||
#[cfg(feature = "dim3")]
|
||
pub fn limit_angular_coupled(
|
||
&self,
|
||
params: &IntegrationParameters,
|
||
joint_id: [JointIndex; 1],
|
||
body1: &JointSolverBody<Real, 1>,
|
||
body2: &JointSolverBody<Real, 1>,
|
||
coupled_axes: u8,
|
||
limits: [Real; 2],
|
||
writeback_id: WritebackId,
|
||
) -> JointTwoBodyConstraint<Real, 1> {
|
||
// NOTE: right now, this only supports exactly 2 coupled axes.
|
||
let ang_coupled_axes = coupled_axes >> DIM;
|
||
assert_eq!(ang_coupled_axes.count_ones(), 2);
|
||
let not_coupled_index = ang_coupled_axes.trailing_ones() as usize;
|
||
let axis1 = self.basis.column(not_coupled_index).into_owned();
|
||
let axis2 = self.basis2.column(not_coupled_index).into_owned();
|
||
|
||
let rot = Rotation::rotation_between(&axis1, &axis2).unwrap_or_else(Rotation::identity);
|
||
let (ang_jac, angle) = rot
|
||
.axis_angle()
|
||
.map(|(axis, angle)| (axis.into_inner(), angle))
|
||
.unwrap_or_else(|| (axis1.orthonormal_basis()[0], 0.0));
|
||
|
||
let min_enabled = angle <= limits[0];
|
||
let max_enabled = limits[1] <= angle;
|
||
|
||
let impulse_bounds = [
|
||
if min_enabled { -Real::INFINITY } else { 0.0 },
|
||
if max_enabled { Real::INFINITY } else { 0.0 },
|
||
];
|
||
|
||
let rhs_wo_bias = 0.0;
|
||
|
||
let erp_inv_dt = params.joint_erp_inv_dt();
|
||
let cfm_coeff = params.joint_cfm_coeff();
|
||
let rhs_bias = ((angle - limits[1]).max(0.0) - (limits[0] - angle).max(0.0)) * erp_inv_dt;
|
||
|
||
let ang_jac1 = body1.sqrt_ii * ang_jac;
|
||
let ang_jac2 = body2.sqrt_ii * ang_jac;
|
||
|
||
JointTwoBodyConstraint {
|
||
joint_id,
|
||
solver_vel1: body1.solver_vel,
|
||
solver_vel2: body2.solver_vel,
|
||
im1: body1.im,
|
||
im2: body2.im,
|
||
impulse: 0.0,
|
||
impulse_bounds,
|
||
lin_jac: na::zero(),
|
||
ang_jac1,
|
||
ang_jac2,
|
||
inv_lhs: 0.0, // Will be set during ortogonalization.
|
||
cfm_coeff,
|
||
cfm_gain: 0.0,
|
||
rhs: rhs_wo_bias + rhs_bias,
|
||
rhs_wo_bias,
|
||
writeback_id,
|
||
}
|
||
}
|
||
|
||
#[cfg(feature = "dim3")]
|
||
pub fn limit_angular_coupled_one_body(
|
||
&self,
|
||
params: &IntegrationParameters,
|
||
joint_id: [JointIndex; 1],
|
||
body1: &JointFixedSolverBody<Real>,
|
||
body2: &JointSolverBody<Real, 1>,
|
||
coupled_axes: u8,
|
||
limits: [Real; 2],
|
||
writeback_id: WritebackId,
|
||
) -> JointOneBodyConstraint<Real, 1> {
|
||
// NOTE: right now, this only supports exactly 2 coupled axes.
|
||
let ang_coupled_axes = coupled_axes >> DIM;
|
||
assert_eq!(ang_coupled_axes.count_ones(), 2);
|
||
let not_coupled_index = ang_coupled_axes.trailing_ones() as usize;
|
||
let axis1 = self.basis.column(not_coupled_index).into_owned();
|
||
let axis2 = self.basis2.column(not_coupled_index).into_owned();
|
||
|
||
let rot = Rotation::rotation_between(&axis1, &axis2).unwrap_or_else(Rotation::identity);
|
||
let (ang_jac, angle) = rot
|
||
.axis_angle()
|
||
.map(|(axis, angle)| (axis.into_inner(), angle))
|
||
.unwrap_or_else(|| (axis1.orthonormal_basis()[0], 0.0));
|
||
|
||
let min_enabled = angle <= limits[0];
|
||
let max_enabled = limits[1] <= angle;
|
||
|
||
let impulse_bounds = [
|
||
if min_enabled { -Real::INFINITY } else { 0.0 },
|
||
if max_enabled { Real::INFINITY } else { 0.0 },
|
||
];
|
||
|
||
let rhs_wo_bias = -ang_jac.gdot(body1.angvel);
|
||
|
||
let erp_inv_dt = params.joint_erp_inv_dt();
|
||
let cfm_coeff = params.joint_cfm_coeff();
|
||
let rhs_bias = ((angle - limits[1]).max(0.0) - (limits[0] - angle).max(0.0)) * erp_inv_dt;
|
||
|
||
let ang_jac2 = body2.sqrt_ii * ang_jac;
|
||
|
||
JointOneBodyConstraint {
|
||
joint_id,
|
||
solver_vel2: body2.solver_vel,
|
||
im2: body2.im,
|
||
impulse: 0.0,
|
||
impulse_bounds,
|
||
lin_jac: na::zero(),
|
||
ang_jac2,
|
||
inv_lhs: 0.0, // Will be set during ortogonalization.
|
||
cfm_coeff,
|
||
cfm_gain: 0.0,
|
||
rhs: rhs_wo_bias + rhs_bias,
|
||
rhs_wo_bias,
|
||
writeback_id,
|
||
}
|
||
}
|
||
}
|