447 lines
18 KiB
Rust
447 lines
18 KiB
Rust
use super::{AnyVelocityConstraint, DeltaVel};
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use crate::dynamics::{IntegrationParameters, RigidBodySet};
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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 WVelocityConstraintTangentPart {
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pub gcross1: [AngVector<SimdReal>; DIM - 1],
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pub gcross2: [AngVector<SimdReal>; DIM - 1],
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pub rhs: [SimdReal; DIM - 1],
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#[cfg(feature = "dim2")]
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pub impulse: [SimdReal; DIM - 1],
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#[cfg(feature = "dim3")]
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pub impulse: na::Vector2<SimdReal>,
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pub r: [SimdReal; DIM - 1],
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}
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impl WVelocityConstraintTangentPart {
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pub fn zero() -> Self {
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Self {
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gcross1: [AngVector::zero(); DIM - 1],
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gcross2: [AngVector::zero(); DIM - 1],
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rhs: [SimdReal::zero(); DIM - 1],
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#[cfg(feature = "dim2")]
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impulse: [SimdReal::zero(); DIM - 1],
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#[cfg(feature = "dim3")]
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impulse: na::Vector2::zeros(),
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r: [SimdReal::zero(); DIM - 1],
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}
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}
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}
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#[derive(Copy, Clone, Debug)]
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pub(crate) struct WVelocityConstraintNormalPart {
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pub gcross1: AngVector<SimdReal>,
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pub gcross2: AngVector<SimdReal>,
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pub rhs: SimdReal,
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pub impulse: SimdReal,
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pub r: SimdReal,
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}
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impl WVelocityConstraintNormalPart {
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pub fn zero() -> Self {
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Self {
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gcross1: AngVector::zero(),
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gcross2: AngVector::zero(),
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rhs: SimdReal::zero(),
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impulse: SimdReal::zero(),
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r: SimdReal::zero(),
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}
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}
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}
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#[derive(Copy, Clone, Debug)]
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pub(crate) struct WVelocityConstraintElement {
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pub normal_part: WVelocityConstraintNormalPart,
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pub tangent_part: WVelocityConstraintTangentPart,
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}
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impl WVelocityConstraintElement {
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pub fn zero() -> Self {
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Self {
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normal_part: WVelocityConstraintNormalPart::zero(),
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tangent_part: WVelocityConstraintTangentPart::zero(),
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}
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}
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}
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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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#[cfg(feature = "dim3")]
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pub tangent_rot1: na::UnitComplex<SimdReal>, // Orientation of the tangent basis wrt. the reference basis.
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pub elements: [WVelocityConstraintElement; MAX_MANIFOLD_POINTS],
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pub num_contacts: u8,
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pub im1: SimdReal,
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pub im2: 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(
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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: &RigidBodySet,
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out_constraints: &mut Vec<AnyVelocityConstraint>,
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push: bool,
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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 velocity_based_erp_inv_dt = SimdReal::splat(params.velocity_based_erp_inv_dt());
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let rbs1 = array![|ii| &bodies[manifolds[ii].data.body_pair.body1]; SIMD_WIDTH];
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let rbs2 = array![|ii| &bodies[manifolds[ii].data.body_pair.body2]; SIMD_WIDTH];
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let im1 = SimdReal::from(array![|ii| rbs1[ii].effective_inv_mass; SIMD_WIDTH]);
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let ii1: AngularInertia<SimdReal> = AngularInertia::from(
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array![|ii| rbs1[ii].effective_world_inv_inertia_sqrt; SIMD_WIDTH],
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);
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let linvel1 = Vector::from(array![|ii| rbs1[ii].linvel; SIMD_WIDTH]);
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let angvel1 = AngVector::<SimdReal>::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]);
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let world_com1 = Point::from(array![|ii| rbs1[ii].world_com; SIMD_WIDTH]);
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let im2 = SimdReal::from(array![|ii| rbs2[ii].effective_inv_mass; SIMD_WIDTH]);
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let ii2: AngularInertia<SimdReal> = AngularInertia::from(
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array![|ii| rbs2[ii].effective_world_inv_inertia_sqrt; SIMD_WIDTH],
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);
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let linvel2 = Vector::from(array![|ii| rbs2[ii].linvel; SIMD_WIDTH]);
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let angvel2 = AngVector::<SimdReal>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]);
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let world_com2 = Point::from(array![|ii| rbs2[ii].world_com; SIMD_WIDTH]);
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let force_dir1 = -Vector::from(array![|ii| manifolds[ii].data.normal; SIMD_WIDTH]);
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let mj_lambda1 = array![|ii| rbs1[ii].active_set_offset; SIMD_WIDTH];
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let mj_lambda2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
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let warmstart_multiplier =
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SimdReal::from(array![|ii| manifolds[ii].data.warmstart_multiplier; SIMD_WIDTH]);
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let warmstart_coeff = warmstart_multiplier * SimdReal::splat(params.warmstart_coeff);
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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, tangent_rot1) =
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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 = array![|ii|
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&manifolds[ii].data.solver_contacts[l..num_active_contacts]; SIMD_WIDTH
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];
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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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#[cfg(feature = "dim3")]
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tangent_rot1,
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elements: [WVelocityConstraintElement::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 =
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SimdReal::from(array![|ii| manifold_points[ii][k].friction; SIMD_WIDTH]);
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let restitution =
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SimdReal::from(array![|ii| manifold_points[ii][k].restitution; SIMD_WIDTH]);
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let is_bouncy = SimdReal::from(
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array![|ii| manifold_points[ii][k].is_bouncy() as u32 as Real; SIMD_WIDTH],
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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(array![|ii| manifold_points[ii][k].point; SIMD_WIDTH]);
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let dist = SimdReal::from(array![|ii| manifold_points[ii][k].dist; SIMD_WIDTH]);
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let tangent_velocity =
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Vector::from(array![|ii| manifold_points[ii][k].tangent_velocity; SIMD_WIDTH]);
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let impulse =
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SimdReal::from(array![|ii| manifold_points[ii][k].data.impulse; SIMD_WIDTH]);
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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] =
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array![|ii| manifold_points[ii][k].contact_id; SIMD_WIDTH];
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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 r = SimdReal::splat(1.0)
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/ (im1 + im2 + gcross1.gdot(gcross1) + gcross2.gdot(gcross2));
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let projected_velocity = (vel1 - vel2).dot(&force_dir1);
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let mut rhs =
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(SimdReal::splat(1.0) + is_bouncy * restitution) * projected_velocity;
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rhs += dist.simd_max(SimdReal::zero()) * inv_dt;
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rhs *= is_bouncy + is_resting * velocity_solve_fraction;
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rhs +=
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dist.simd_min(SimdReal::zero()) * (velocity_based_erp_inv_dt * is_resting);
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constraint.elements[k].normal_part = WVelocityConstraintNormalPart {
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gcross1,
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gcross2,
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rhs,
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impulse: impulse * warmstart_coeff,
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r,
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};
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}
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// tangent parts.
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#[cfg(feature = "dim2")]
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let impulse = [SimdReal::from(
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array![|ii| manifold_points[ii][k].data.tangent_impulse; SIMD_WIDTH],
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)];
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#[cfg(feature = "dim3")]
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let impulse = tangent_rot1
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* na::Vector2::from(
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array![|ii| manifold_points[ii][k].data.tangent_impulse; SIMD_WIDTH],
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);
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constraint.elements[k].tangent_part.impulse = impulse;
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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 r = SimdReal::splat(1.0)
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/ (im1 + im2 + gcross1.gdot(gcross1) + 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 warmstart(&self, mj_lambdas: &mut [DeltaVel<Real>]) {
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let mut mj_lambda1 = DeltaVel {
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linear: Vector::from(
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array![|ii| mj_lambdas[self.mj_lambda1[ii] as usize].linear; SIMD_WIDTH],
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),
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angular: AngVector::from(
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array![|ii| mj_lambdas[self.mj_lambda1[ii] as usize].angular; SIMD_WIDTH],
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),
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};
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let mut mj_lambda2 = DeltaVel {
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linear: Vector::from(
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array![|ii| mj_lambdas[self.mj_lambda2[ii] as usize].linear; SIMD_WIDTH],
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),
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angular: AngVector::from(
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array![|ii| mj_lambdas[self.mj_lambda2[ii] as usize].angular; SIMD_WIDTH],
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),
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};
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#[cfg(feature = "dim3")]
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let tangents1 = [self.tangent1, self.dir1.cross(&self.tangent1)];
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#[cfg(feature = "dim2")]
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let tangents1 = self.dir1.orthonormal_basis();
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for i in 0..self.num_contacts as usize {
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let elt = &self.elements[i].normal_part;
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mj_lambda1.linear += self.dir1 * (self.im1 * elt.impulse);
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mj_lambda1.angular += elt.gcross1 * elt.impulse;
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mj_lambda2.linear += self.dir1 * (-self.im2 * elt.impulse);
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mj_lambda2.angular += elt.gcross2 * elt.impulse;
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for j in 0..DIM - 1 {
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let elt = &self.elements[i].tangent_part;
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mj_lambda1.linear += tangents1[j] * (self.im1 * elt.impulse[j]);
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mj_lambda1.angular += elt.gcross1[j] * elt.impulse[j];
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mj_lambda2.linear += tangents1[j] * (-self.im2 * elt.impulse[j]);
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mj_lambda2.angular += elt.gcross2[j] * elt.impulse[j];
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}
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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 solve(&mut self, mj_lambdas: &mut [DeltaVel<Real>]) {
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let mut mj_lambda1 = DeltaVel {
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linear: Vector::from(
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array![|ii| mj_lambdas[self.mj_lambda1[ii] as usize].linear; SIMD_WIDTH],
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),
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angular: AngVector::from(
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array![|ii| mj_lambdas[self.mj_lambda1[ii] as usize].angular; SIMD_WIDTH],
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),
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};
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let mut mj_lambda2 = DeltaVel {
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linear: Vector::from(
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array![|ii| mj_lambdas[ self.mj_lambda2[ii] as usize].linear; SIMD_WIDTH],
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),
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angular: AngVector::from(
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array![|ii| mj_lambdas[ self.mj_lambda2[ii] as usize].angular; SIMD_WIDTH],
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),
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};
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// Solve friction.
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#[cfg(feature = "dim3")]
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let bitangent1 = self.dir1.cross(&self.tangent1);
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#[cfg(feature = "dim2")]
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let tangents1 = self.dir1.orthonormal_basis();
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#[cfg(feature = "dim2")]
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for i in 0..self.num_contacts as usize {
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let normal_elt = &self.elements[i].normal_part;
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let elt = &mut self.elements[i].tangent_part;
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let dimpulse = tangents1[0].dot(&mj_lambda1.linear)
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+ elt.gcross1[0].gdot(mj_lambda1.angular)
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- tangents1[0].dot(&mj_lambda2.linear)
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+ elt.gcross2[0].gdot(mj_lambda2.angular)
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+ elt.rhs[0];
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let limit = self.limit * normal_elt.impulse;
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let new_impulse = (elt.impulse[0] - elt.r[0] * dimpulse).simd_clamp(-limit, limit);
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let dlambda = new_impulse - elt.impulse[0];
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elt.impulse[0] = new_impulse;
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mj_lambda1.linear += tangents1[0] * (self.im1 * dlambda);
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mj_lambda1.angular += elt.gcross1[0] * dlambda;
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mj_lambda2.linear += tangents1[0] * (-self.im2 * dlambda);
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mj_lambda2.angular += elt.gcross2[0] * dlambda;
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}
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#[cfg(feature = "dim3")]
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for i in 0..self.num_contacts as usize {
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let limit = self.limit * self.elements[i].normal_part.impulse;
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let elts = &mut self.elements[i].tangent_part;
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let dimpulse_0 = self.tangent1.dot(&mj_lambda1.linear)
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+ elts.gcross1[0].gdot(mj_lambda1.angular)
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- self.tangent1.dot(&mj_lambda2.linear)
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+ elts.gcross2[0].gdot(mj_lambda2.angular)
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+ elts.rhs[0];
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let dimpulse_1 = bitangent1.dot(&mj_lambda1.linear)
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+ elts.gcross1[1].gdot(mj_lambda1.angular)
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- bitangent1.dot(&mj_lambda2.linear)
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+ elts.gcross2[1].gdot(mj_lambda2.angular)
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+ elts.rhs[1];
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let new_impulse = na::Vector2::new(
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elts.impulse[0] - elts.r[0] * dimpulse_0,
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elts.impulse[1] - elts.r[1] * dimpulse_1,
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);
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let new_impulse = new_impulse.simd_cap_magnitude(limit);
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let dlambda = new_impulse - elts.impulse;
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elts.impulse = new_impulse;
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mj_lambda1.linear +=
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self.tangent1 * (self.im1 * dlambda[0]) + bitangent1 * (self.im1 * dlambda[1]);
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mj_lambda1.angular += elts.gcross1[0] * dlambda[0] + elts.gcross1[1] * dlambda[1];
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mj_lambda2.linear +=
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self.tangent1 * (-self.im2 * dlambda[0]) + bitangent1 * (-self.im2 * dlambda[1]);
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mj_lambda2.angular += elts.gcross2[0] * dlambda[0] + elts.gcross2[1] * dlambda[1];
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}
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// Solve non-penetration after friction.
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for i in 0..self.num_contacts as usize {
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let elt = &mut self.elements[i].normal_part;
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let dimpulse = self.dir1.dot(&mj_lambda1.linear) + elt.gcross1.gdot(mj_lambda1.angular)
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- self.dir1.dot(&mj_lambda2.linear)
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+ elt.gcross2.gdot(mj_lambda2.angular)
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+ elt.rhs;
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let new_impulse = (elt.impulse - elt.r * dimpulse).simd_max(SimdReal::zero());
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let dlambda = new_impulse - elt.impulse;
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elt.impulse = new_impulse;
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mj_lambda1.linear += self.dir1 * (self.im1 * dlambda);
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mj_lambda1.angular += elt.gcross1 * dlambda;
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mj_lambda2.linear += self.dir1 * (-self.im2 * dlambda);
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mj_lambda2.angular += elt.gcross2 * dlambda;
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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);
|
|
mj_lambdas[self.mj_lambda1[ii] as usize].angular = mj_lambda1.angular.extract(ii);
|
|
}
|
|
for ii in 0..SIMD_WIDTH {
|
|
mj_lambdas[self.mj_lambda2[ii] as usize].linear = mj_lambda2.linear.extract(ii);
|
|
mj_lambdas[self.mj_lambda2[ii] as usize].angular = mj_lambda2.angular.extract(ii);
|
|
}
|
|
}
|
|
|
|
pub fn writeback_impulses(&self, manifolds_all: &mut [&mut ContactManifold]) {
|
|
for k in 0..self.num_contacts as usize {
|
|
let impulses: [_; SIMD_WIDTH] = self.elements[k].normal_part.impulse.into();
|
|
#[cfg(feature = "dim2")]
|
|
let tangent_impulses: [_; SIMD_WIDTH] = self.elements[k].tangent_part.impulse[0].into();
|
|
#[cfg(feature = "dim3")]
|
|
let tangent_impulses = self
|
|
.tangent_rot1
|
|
.inverse_transform_vector(&self.elements[k].tangent_part.impulse);
|
|
|
|
for ii in 0..SIMD_WIDTH {
|
|
let manifold = &mut manifolds_all[self.manifold_id[ii]];
|
|
let contact_id = self.manifold_contact_id[k][ii];
|
|
let active_contact = &mut manifold.points[contact_id as usize];
|
|
active_contact.data.impulse = impulses[ii];
|
|
|
|
#[cfg(feature = "dim2")]
|
|
{
|
|
active_contact.data.tangent_impulse = tangent_impulses[ii];
|
|
}
|
|
#[cfg(feature = "dim3")]
|
|
{
|
|
active_contact.data.tangent_impulse = tangent_impulses.extract(ii);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|