266 lines
12 KiB
Rust
266 lines
12 KiB
Rust
use super::{
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AnyVelocityConstraint, DeltaVel, VelocityConstraintElement, VelocityConstraintNormalPart,
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};
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use crate::data::ComponentSet;
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use crate::dynamics::{IntegrationParameters, RigidBodyIds, RigidBodyMassProps, RigidBodyVelocity};
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use crate::geometry::{ContactManifold, ContactManifoldIndex};
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use crate::math::{
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AngVector, AngularInertia, Point, Real, SimdReal, Vector, DIM, MAX_MANIFOLD_POINTS, SIMD_WIDTH,
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};
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#[cfg(feature = "dim2")]
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use crate::utils::WBasis;
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use crate::utils::{WAngularInertia, WCross, WDot};
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use num::Zero;
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use simba::simd::{SimdPartialOrd, SimdValue};
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#[derive(Copy, Clone, Debug)]
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pub(crate) struct WVelocityConstraint {
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pub dir1: Vector<SimdReal>, // Non-penetration force direction for the first body.
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#[cfg(feature = "dim3")]
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pub tangent1: Vector<SimdReal>, // One of the friction force directions.
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pub elements: [VelocityConstraintElement<SimdReal>; MAX_MANIFOLD_POINTS],
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pub num_contacts: u8,
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pub im1: Vector<SimdReal>,
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pub im2: Vector<SimdReal>,
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pub limit: SimdReal,
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pub mj_lambda1: [usize; SIMD_WIDTH],
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pub mj_lambda2: [usize; SIMD_WIDTH],
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pub manifold_id: [ContactManifoldIndex; SIMD_WIDTH],
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pub manifold_contact_id: [[u8; SIMD_WIDTH]; MAX_MANIFOLD_POINTS],
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}
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impl WVelocityConstraint {
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pub fn generate<Bodies>(
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params: &IntegrationParameters,
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manifold_id: [ContactManifoldIndex; SIMD_WIDTH],
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manifolds: [&ContactManifold; SIMD_WIDTH],
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bodies: &Bodies,
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out_constraints: &mut Vec<AnyVelocityConstraint>,
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push: bool,
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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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{
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for ii in 0..SIMD_WIDTH {
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assert_eq!(manifolds[ii].data.relative_dominance, 0);
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}
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let inv_dt = SimdReal::splat(params.inv_dt());
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let velocity_solve_fraction = SimdReal::splat(params.velocity_solve_fraction);
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let erp_inv_dt = SimdReal::splat(params.erp_inv_dt());
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let allowed_lin_err = SimdReal::splat(params.allowed_linear_error);
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let handles1 = gather![|ii| manifolds[ii].data.rigid_body1.unwrap()];
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let handles2 = gather![|ii| manifolds[ii].data.rigid_body2.unwrap()];
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let vels1: [&RigidBodyVelocity; SIMD_WIDTH] = gather![|ii| bodies.index(handles1[ii].0)];
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let vels2: [&RigidBodyVelocity; SIMD_WIDTH] = gather![|ii| bodies.index(handles2[ii].0)];
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let ids1: [&RigidBodyIds; SIMD_WIDTH] = gather![|ii| bodies.index(handles1[ii].0)];
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let ids2: [&RigidBodyIds; SIMD_WIDTH] = gather![|ii| bodies.index(handles2[ii].0)];
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let mprops1: [&RigidBodyMassProps; SIMD_WIDTH] = gather![|ii| bodies.index(handles1[ii].0)];
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let mprops2: [&RigidBodyMassProps; SIMD_WIDTH] = gather![|ii| bodies.index(handles2[ii].0)];
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let world_com1 = Point::from(gather![|ii| mprops1[ii].world_com]);
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let im1 = Vector::from(gather![|ii| mprops1[ii].effective_inv_mass]);
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let ii1: AngularInertia<SimdReal> =
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AngularInertia::from(gather![|ii| mprops1[ii].effective_world_inv_inertia_sqrt]);
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let linvel1 = Vector::from(gather![|ii| vels1[ii].linvel]);
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let angvel1 = AngVector::<SimdReal>::from(gather![|ii| vels1[ii].angvel]);
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let world_com2 = Point::from(gather![|ii| mprops2[ii].world_com]);
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let im2 = Vector::from(gather![|ii| mprops2[ii].effective_inv_mass]);
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let ii2: AngularInertia<SimdReal> =
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AngularInertia::from(gather![|ii| mprops2[ii].effective_world_inv_inertia_sqrt]);
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let linvel2 = Vector::from(gather![|ii| vels2[ii].linvel]);
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let angvel2 = AngVector::<SimdReal>::from(gather![|ii| vels2[ii].angvel]);
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let force_dir1 = -Vector::from(gather![|ii| manifolds[ii].data.normal]);
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let mj_lambda1 = gather![|ii| ids1[ii].active_set_offset];
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let mj_lambda2 = gather![|ii| ids2[ii].active_set_offset];
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let num_active_contacts = manifolds[0].data.num_active_contacts();
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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(&force_dir1, &linvel1, &linvel2);
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for l in (0..num_active_contacts).step_by(MAX_MANIFOLD_POINTS) {
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let manifold_points =
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gather![|ii| &manifolds[ii].data.solver_contacts[l..num_active_contacts]];
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let num_points = manifold_points[0].len().min(MAX_MANIFOLD_POINTS);
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let mut constraint = WVelocityConstraint {
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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: [VelocityConstraintElement::zero(); MAX_MANIFOLD_POINTS],
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im1,
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im2,
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limit: SimdReal::splat(0.0),
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mj_lambda1,
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mj_lambda2,
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manifold_id,
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manifold_contact_id: [[0; SIMD_WIDTH]; MAX_MANIFOLD_POINTS],
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num_contacts: num_points as u8,
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};
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for k in 0..num_points {
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let friction = SimdReal::from(gather![|ii| manifold_points[ii][k].friction]);
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let restitution = SimdReal::from(gather![|ii| manifold_points[ii][k].restitution]);
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let is_bouncy = SimdReal::from(gather![
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|ii| manifold_points[ii][k].is_bouncy() as u32 as Real
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]);
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let is_resting = SimdReal::splat(1.0) - is_bouncy;
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let point = Point::from(gather![|ii| manifold_points[ii][k].point]);
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let dist = SimdReal::from(gather![|ii| manifold_points[ii][k].dist]);
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let tangent_velocity =
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Vector::from(gather![|ii| manifold_points[ii][k].tangent_velocity]);
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let dp1 = point - world_com1;
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let dp2 = point - world_com2;
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let vel1 = linvel1 + angvel1.gcross(dp1);
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let vel2 = linvel2 + angvel2.gcross(dp2);
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constraint.limit = friction;
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constraint.manifold_contact_id[k] = gather![|ii| manifold_points[ii][k].contact_id];
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// Normal part.
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{
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let gcross1 = ii1.transform_vector(dp1.gcross(force_dir1));
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let gcross2 = ii2.transform_vector(dp2.gcross(-force_dir1));
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let imsum = im1 + im2;
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let r = SimdReal::splat(1.0)
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/ (force_dir1.dot(&imsum.component_mul(&force_dir1))
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+ gcross1.gdot(gcross1)
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+ gcross2.gdot(gcross2));
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let projected_velocity = (vel1 - vel2).dot(&force_dir1);
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let mut rhs_wo_bias =
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(SimdReal::splat(1.0) + is_bouncy * restitution) * projected_velocity;
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rhs_wo_bias += (dist + allowed_lin_err).simd_max(SimdReal::zero()) * inv_dt;
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rhs_wo_bias *= is_bouncy + is_resting * velocity_solve_fraction;
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let rhs_bias = (dist + allowed_lin_err).simd_min(SimdReal::zero())
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* (erp_inv_dt/* * is_resting */);
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constraint.elements[k].normal_part = VelocityConstraintNormalPart {
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gcross1,
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gcross2,
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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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constraint.elements[k].tangent_part.impulse = na::zero();
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for j in 0..DIM - 1 {
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let gcross1 = ii1.transform_vector(dp1.gcross(tangents1[j]));
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let gcross2 = ii2.transform_vector(dp2.gcross(-tangents1[j]));
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let imsum = im1 + im2;
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let r = SimdReal::splat(1.0)
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/ (tangents1[j].dot(&imsum.component_mul(&tangents1[j]))
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+ gcross1.gdot(gcross1)
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+ gcross2.gdot(gcross2));
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let rhs = (vel1 - vel2 + tangent_velocity).dot(&tangents1[j]);
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constraint.elements[k].tangent_part.gcross1[j] = gcross1;
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constraint.elements[k].tangent_part.gcross2[j] = gcross2;
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constraint.elements[k].tangent_part.rhs[j] = rhs;
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constraint.elements[k].tangent_part.r[j] = r;
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}
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}
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if push {
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out_constraints.push(AnyVelocityConstraint::Grouped(constraint));
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} else {
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out_constraints[manifolds[0].data.constraint_index + l / MAX_MANIFOLD_POINTS] =
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AnyVelocityConstraint::Grouped(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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mj_lambdas: &mut [DeltaVel<Real>],
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solve_normal: bool,
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solve_friction: bool,
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) {
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let mut mj_lambda1 = DeltaVel {
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linear: Vector::from(gather![|ii| mj_lambdas[self.mj_lambda1[ii] as usize].linear]),
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angular: AngVector::from(gather![
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|ii| mj_lambdas[self.mj_lambda1[ii] as usize].angular
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]),
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};
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let mut mj_lambda2 = DeltaVel {
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linear: Vector::from(gather![|ii| mj_lambdas[self.mj_lambda2[ii] as usize].linear]),
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angular: AngVector::from(gather![
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|ii| mj_lambdas[self.mj_lambda2[ii] as usize].angular
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]),
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};
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VelocityConstraintElement::solve_group(
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&mut self.elements[..self.num_contacts as usize],
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&self.dir1,
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#[cfg(feature = "dim3")]
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&self.tangent1,
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&self.im1,
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&self.im2,
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self.limit,
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&mut mj_lambda1,
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&mut mj_lambda2,
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solve_normal,
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solve_friction,
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);
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for ii in 0..SIMD_WIDTH {
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mj_lambdas[self.mj_lambda1[ii] as usize].linear = mj_lambda1.linear.extract(ii);
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mj_lambdas[self.mj_lambda1[ii] as usize].angular = mj_lambda1.angular.extract(ii);
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}
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for ii in 0..SIMD_WIDTH {
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mj_lambdas[self.mj_lambda2[ii] as usize].linear = mj_lambda2.linear.extract(ii);
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mj_lambdas[self.mj_lambda2[ii] as usize].angular = mj_lambda2.angular.extract(ii);
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}
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}
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pub fn writeback_impulses(&self, manifolds_all: &mut [&mut ContactManifold]) {
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for k in 0..self.num_contacts as usize {
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let impulses: [_; SIMD_WIDTH] = self.elements[k].normal_part.impulse.into();
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#[cfg(feature = "dim2")]
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let tangent_impulses: [_; SIMD_WIDTH] = self.elements[k].tangent_part.impulse[0].into();
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#[cfg(feature = "dim3")]
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let tangent_impulses = self.elements[k].tangent_part.impulse;
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for ii in 0..SIMD_WIDTH {
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let manifold = &mut manifolds_all[self.manifold_id[ii]];
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let contact_id = self.manifold_contact_id[k][ii];
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let active_contact = &mut manifold.points[contact_id as usize];
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active_contact.data.impulse = impulses[ii];
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#[cfg(feature = "dim2")]
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{
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active_contact.data.tangent_impulse = tangent_impulses[ii];
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}
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#[cfg(feature = "dim3")]
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{
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active_contact.data.tangent_impulse = tangent_impulses.extract(ii);
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}
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}
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}
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}
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pub fn remove_bias_from_rhs(&mut self) {
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for elt in &mut self.elements {
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elt.normal_part.rhs = elt.normal_part.rhs_wo_bias;
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}
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}
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}
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