595 lines
23 KiB
Rust
595 lines
23 KiB
Rust
use crate::dynamics::solver::GenericRhs;
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use crate::dynamics::{IntegrationParameters, MultibodyJointSet, RigidBodySet};
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use crate::geometry::{ContactManifold, ContactManifoldIndex};
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use crate::math::{DIM, MAX_MANIFOLD_POINTS, Real};
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use crate::utils::{SimdAngularInertia, SimdCross, SimdDot};
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use super::{ContactConstraintNormalPart, ContactConstraintTangentPart};
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use crate::dynamics::solver::CoulombContactPointInfos;
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use crate::dynamics::solver::solver_body::SolverBodies;
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use crate::prelude::RigidBodyHandle;
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#[cfg(feature = "dim2")]
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use crate::utils::SimdBasis;
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use na::DVector;
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use parry::math::Vector;
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#[derive(Copy, Clone)]
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pub(crate) struct GenericContactConstraintBuilder {
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infos: [CoulombContactPointInfos<Real>; MAX_MANIFOLD_POINTS],
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handle1: RigidBodyHandle,
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handle2: RigidBodyHandle,
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ccd_thickness: Real,
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}
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impl GenericContactConstraintBuilder {
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pub fn invalid() -> Self {
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Self {
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infos: [CoulombContactPointInfos::default(); MAX_MANIFOLD_POINTS],
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handle1: RigidBodyHandle::invalid(),
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handle2: RigidBodyHandle::invalid(),
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ccd_thickness: Real::MAX,
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}
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}
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pub fn generate(
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manifold_id: ContactManifoldIndex,
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manifold: &ContactManifold,
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bodies: &RigidBodySet,
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multibodies: &MultibodyJointSet,
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out_builders: &mut [GenericContactConstraintBuilder],
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out_constraints: &mut [GenericContactConstraint],
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jacobians: &mut DVector<Real>,
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jacobian_id: &mut usize,
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) {
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// TODO PERF: we haven’t tried to optimized this codepath yet (since it relies
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// on multibodies which are already much slower than regular bodies).
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let handle1 = manifold
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.data
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.rigid_body1
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.unwrap_or(RigidBodyHandle::invalid());
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let handle2 = manifold
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.data
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.rigid_body2
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.unwrap_or(RigidBodyHandle::invalid());
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let rb1 = &bodies.get(handle1).unwrap_or(&bodies.default_fixed);
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let rb2 = &bodies.get(handle2).unwrap_or(&bodies.default_fixed);
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let (vels1, mprops1, type1) = (&rb1.vels, &rb1.mprops, &rb1.body_type);
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let (vels2, mprops2, type2) = (&rb2.vels, &rb2.mprops, &rb2.body_type);
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let multibody1 = multibodies
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.rigid_body_link(handle1)
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.map(|m| (&multibodies[m.multibody], m.id));
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let multibody2 = multibodies
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.rigid_body_link(handle2)
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.map(|m| (&multibodies[m.multibody], m.id));
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let solver_vel1 =
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multibody1
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.map(|mb| mb.0.solver_id)
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.unwrap_or(if type1.is_dynamic_or_kinematic() {
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rb1.ids.active_set_offset
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} else {
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u32::MAX
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});
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let solver_vel2 =
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multibody2
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.map(|mb| mb.0.solver_id)
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.unwrap_or(if type2.is_dynamic_or_kinematic() {
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rb2.ids.active_set_offset
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} else {
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u32::MAX
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});
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let force_dir1 = -manifold.data.normal;
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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 =
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super::compute_tangent_contact_directions(&force_dir1, &vels1.linvel, &vels2.linvel);
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let multibodies_ndof = multibody1.map(|m| m.0.ndofs()).unwrap_or(0)
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+ multibody2.map(|m| m.0.ndofs()).unwrap_or(0);
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// For each solver contact we generate DIM constraints, and each constraints appends
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// the multibodies jacobian and weighted jacobians
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let required_jacobian_len =
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*jacobian_id + manifold.data.solver_contacts.len() * multibodies_ndof * 2 * DIM;
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if jacobians.nrows() < required_jacobian_len && !cfg!(feature = "parallel") {
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jacobians.resize_vertically_mut(required_jacobian_len, 0.0);
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}
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for (l, manifold_points) in manifold
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.data
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.solver_contacts
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.chunks(MAX_MANIFOLD_POINTS)
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.enumerate()
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{
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let chunk_j_id = *jacobian_id;
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let builder = &mut out_builders[l];
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let constraint = &mut out_constraints[l];
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constraint.dir1 = force_dir1;
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constraint.im1 = if type1.is_dynamic_or_kinematic() {
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mprops1.effective_inv_mass
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} else {
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na::zero()
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};
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constraint.im2 = if type2.is_dynamic_or_kinematic() {
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mprops2.effective_inv_mass
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} else {
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na::zero()
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};
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constraint.solver_vel1 = solver_vel1;
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constraint.solver_vel2 = solver_vel2;
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constraint.manifold_id = manifold_id;
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constraint.num_contacts = manifold_points.len() as u8;
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#[cfg(feature = "dim3")]
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{
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constraint.tangent1 = tangents1[0];
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}
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for k in 0..manifold_points.len() {
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let manifold_point = &manifold_points[k];
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let point = manifold_point.point;
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let dp1 = point - mprops1.world_com;
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let dp2 = point - mprops2.world_com;
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let vel1 = vels1.linvel + vels1.angvel.gcross(dp1);
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let vel2 = vels2.linvel + vels2.angvel.gcross(dp2);
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constraint.limit = manifold_point.friction;
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constraint.manifold_contact_id[k] = manifold_point.contact_id[0] as u8;
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// Normal part.
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let normal_rhs_wo_bias;
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{
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let torque_dir1 = dp1.gcross(force_dir1);
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let torque_dir2 = dp2.gcross(-force_dir1);
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let ii_torque_dir1 = if type1.is_dynamic_or_kinematic() {
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mprops1
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.effective_world_inv_inertia
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.transform_vector(torque_dir1)
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} else {
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na::zero()
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};
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let ii_torque_dir2 = if type2.is_dynamic_or_kinematic() {
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mprops2
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.effective_world_inv_inertia
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.transform_vector(torque_dir2)
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} else {
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na::zero()
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};
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let inv_r1 = if let Some((mb1, link_id1)) = multibody1.as_ref() {
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mb1.fill_jacobians(
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*link_id1,
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force_dir1,
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#[cfg(feature = "dim2")]
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na::vector!(torque_dir1),
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#[cfg(feature = "dim3")]
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torque_dir1,
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jacobian_id,
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jacobians,
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)
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.0
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} else if type1.is_dynamic_or_kinematic() {
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force_dir1.dot(&mprops1.effective_inv_mass.component_mul(&force_dir1))
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+ ii_torque_dir1.gdot(torque_dir1)
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} else {
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0.0
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};
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let inv_r2 = if let Some((mb2, link_id2)) = multibody2.as_ref() {
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mb2.fill_jacobians(
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*link_id2,
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-force_dir1,
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#[cfg(feature = "dim2")]
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na::vector!(torque_dir2),
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#[cfg(feature = "dim3")]
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torque_dir2,
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jacobian_id,
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jacobians,
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)
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.0
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} else if type2.is_dynamic_or_kinematic() {
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force_dir1.dot(&mprops2.effective_inv_mass.component_mul(&force_dir1))
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+ ii_torque_dir2.gdot(torque_dir2)
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} else {
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0.0
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};
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let r = crate::utils::inv(inv_r1 + inv_r2);
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let is_bouncy = manifold_point.is_bouncy() as u32 as Real;
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normal_rhs_wo_bias =
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(is_bouncy * manifold_point.restitution) * (vel1 - vel2).dot(&force_dir1);
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constraint.normal_part[k] = ContactConstraintNormalPart {
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torque_dir1,
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torque_dir2,
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ii_torque_dir1,
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ii_torque_dir2,
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rhs: na::zero(),
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rhs_wo_bias: na::zero(),
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impulse_accumulator: na::zero(),
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impulse: manifold_point.warmstart_impulse,
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r,
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r_mat_elts: [0.0; 2],
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};
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}
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// Tangent parts.
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{
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constraint.tangent_part[k].impulse = manifold_point.warmstart_tangent_impulse;
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for j in 0..DIM - 1 {
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let torque_dir1 = dp1.gcross(tangents1[j]);
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let ii_torque_dir1 = if type1.is_dynamic_or_kinematic() {
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mprops1
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.effective_world_inv_inertia
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.transform_vector(torque_dir1)
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} else {
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na::zero()
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};
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constraint.tangent_part[k].torque_dir1[j] = torque_dir1;
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constraint.tangent_part[k].ii_torque_dir1[j] = ii_torque_dir1;
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let torque_dir2 = dp2.gcross(-tangents1[j]);
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let ii_torque_dir2 = if type2.is_dynamic_or_kinematic() {
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mprops2
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.effective_world_inv_inertia
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.transform_vector(torque_dir2)
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} else {
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na::zero()
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};
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constraint.tangent_part[k].torque_dir2[j] = torque_dir2;
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constraint.tangent_part[k].ii_torque_dir2[j] = ii_torque_dir2;
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let inv_r1 = if let Some((mb1, link_id1)) = multibody1.as_ref() {
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mb1.fill_jacobians(
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*link_id1,
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tangents1[j],
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#[cfg(feature = "dim2")]
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na::vector![torque_dir1],
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#[cfg(feature = "dim3")]
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torque_dir1,
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jacobian_id,
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jacobians,
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)
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.0
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} else if type1.is_dynamic_or_kinematic() {
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force_dir1.dot(&mprops1.effective_inv_mass.component_mul(&force_dir1))
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+ ii_torque_dir1.gdot(torque_dir1)
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} else {
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0.0
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};
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let inv_r2 = if let Some((mb2, link_id2)) = multibody2.as_ref() {
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mb2.fill_jacobians(
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*link_id2,
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-tangents1[j],
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#[cfg(feature = "dim2")]
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na::vector![torque_dir2],
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#[cfg(feature = "dim3")]
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torque_dir2,
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jacobian_id,
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jacobians,
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)
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.0
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} else if type2.is_dynamic_or_kinematic() {
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force_dir1.dot(&mprops2.effective_inv_mass.component_mul(&force_dir1))
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+ ii_torque_dir2.gdot(torque_dir2)
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} else {
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0.0
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};
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let r = crate::utils::inv(inv_r1 + inv_r2);
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let rhs_wo_bias = manifold_point.tangent_velocity.dot(&tangents1[j]);
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constraint.tangent_part[k].rhs_wo_bias[j] = rhs_wo_bias;
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constraint.tangent_part[k].rhs[j] = rhs_wo_bias;
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// TODO: in 3D, we should take into account gcross[0].dot(gcross[1])
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// in lhs. See the corresponding code on the `velocity_constraint.rs`
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// file.
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constraint.tangent_part[k].r[j] = r;
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}
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}
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// Builder.
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let infos = CoulombContactPointInfos {
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local_p1: rb1
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.pos
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.position
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.inverse_transform_point(&manifold_point.point),
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local_p2: rb2
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.pos
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.position
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.inverse_transform_point(&manifold_point.point),
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tangent_vel: manifold_point.tangent_velocity,
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dist: manifold_point.dist,
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normal_vel: normal_rhs_wo_bias,
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};
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builder.handle1 = handle1;
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builder.handle2 = handle2;
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builder.ccd_thickness = rb1.ccd.ccd_thickness + rb2.ccd.ccd_thickness;
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builder.infos[k] = infos;
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constraint.manifold_contact_id[k] = manifold_point.contact_id[0] as u8;
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}
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let ndofs1 = multibody1.map(|mb| mb.0.ndofs()).unwrap_or(0);
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let ndofs2 = multibody2.map(|mb| mb.0.ndofs()).unwrap_or(0);
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// NOTE: we use the generic constraint for non-dynamic bodies because this will
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// reduce all ops to nothing because its ndofs will be zero.
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let generic_constraint_mask = (multibody1.is_some() as u8)
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| ((multibody2.is_some() as u8) << 1)
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| (!type1.is_dynamic_or_kinematic() as u8)
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| ((!type2.is_dynamic_or_kinematic() as u8) << 1);
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constraint.j_id = chunk_j_id;
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constraint.ndofs1 = ndofs1;
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constraint.ndofs2 = ndofs2;
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constraint.generic_constraint_mask = generic_constraint_mask;
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}
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}
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pub fn update(
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&self,
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params: &IntegrationParameters,
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solved_dt: Real,
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bodies: &SolverBodies,
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multibodies: &MultibodyJointSet,
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constraint: &mut GenericContactConstraint,
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) {
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let cfm_factor = params.contact_softness.cfm_factor(params.dt);
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let inv_dt = params.inv_dt();
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let erp_inv_dt = params.contact_softness.erp_inv_dt(params.dt);
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// We don’t update jacobians so the update is mostly identical to the non-generic velocity constraint.
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let pose1 = multibodies
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.rigid_body_link(self.handle1)
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.map(|m| multibodies[m.multibody].link(m.id).unwrap().local_to_world)
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.unwrap_or_else(|| bodies.get_pose(constraint.solver_vel1).pose);
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let pose2 = multibodies
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.rigid_body_link(self.handle2)
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.map(|m| multibodies[m.multibody].link(m.id).unwrap().local_to_world)
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.unwrap_or_else(|| bodies.get_pose(constraint.solver_vel2).pose);
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let all_infos = &self.infos[..constraint.num_contacts as usize];
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let normal_parts = &mut constraint.normal_part[..constraint.num_contacts as usize];
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let tangent_parts = &mut constraint.tangent_part[..constraint.num_contacts as usize];
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#[cfg(feature = "dim2")]
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let tangents1 = constraint.dir1.orthonormal_basis();
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#[cfg(feature = "dim3")]
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let tangents1 = [
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constraint.tangent1,
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constraint.dir1.cross(&constraint.tangent1),
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];
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for ((info, normal_part), tangent_part) in all_infos
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.iter()
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.zip(normal_parts.iter_mut())
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.zip(tangent_parts.iter_mut())
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{
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// Tangent velocity is equivalent to the first body’s surface moving artificially.
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let p1 = pose1 * info.local_p1 + info.tangent_vel * solved_dt;
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let p2 = pose2 * info.local_p2;
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let dist = info.dist + (p1 - p2).dot(&constraint.dir1);
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// Normal part.
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{
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let rhs_wo_bias = info.normal_vel + dist.max(0.0) * inv_dt;
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let rhs_bias = (erp_inv_dt * (dist + params.allowed_linear_error()))
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.clamp(-params.max_corrective_velocity(), 0.0);
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let new_rhs = rhs_wo_bias + rhs_bias;
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normal_part.rhs_wo_bias = rhs_wo_bias;
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normal_part.rhs = new_rhs;
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normal_part.impulse_accumulator += normal_part.impulse;
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normal_part.impulse *= params.warmstart_coefficient;
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}
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// Tangent part.
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{
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tangent_part.impulse_accumulator += tangent_part.impulse;
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tangent_part.impulse *= params.warmstart_coefficient;
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for j in 0..DIM - 1 {
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let bias = (p1 - p2).dot(&tangents1[j]) * inv_dt;
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tangent_part.rhs[j] = tangent_part.rhs_wo_bias[j] + bias;
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}
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}
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}
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constraint.cfm_factor = cfm_factor;
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}
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}
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#[derive(Copy, Clone, Debug)]
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pub(crate) struct GenericContactConstraint {
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/*
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* Fields specific to multibodies.
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*/
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pub j_id: usize,
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pub ndofs1: usize,
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pub ndofs2: usize,
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pub generic_constraint_mask: u8,
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/*
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* Fields similar to the rigid-body constraints.
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*/
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pub dir1: Vector<Real>, // Non-penetration force direction for the first body.
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#[cfg(feature = "dim3")]
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pub tangent1: Vector<Real>, // One of the friction force directions.
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pub im1: Vector<Real>,
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pub im2: Vector<Real>,
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pub cfm_factor: Real,
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pub limit: Real,
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pub solver_vel1: u32,
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pub solver_vel2: u32,
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pub manifold_id: ContactManifoldIndex,
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pub manifold_contact_id: [u8; MAX_MANIFOLD_POINTS],
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pub num_contacts: u8,
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pub normal_part: [ContactConstraintNormalPart<Real>; MAX_MANIFOLD_POINTS],
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pub tangent_part: [ContactConstraintTangentPart<Real>; MAX_MANIFOLD_POINTS],
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}
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impl GenericContactConstraint {
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pub fn invalid() -> Self {
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Self {
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j_id: usize::MAX,
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ndofs1: usize::MAX,
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ndofs2: usize::MAX,
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generic_constraint_mask: u8::MAX,
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dir1: Vector::zeros(),
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#[cfg(feature = "dim3")]
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tangent1: Vector::zeros(),
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im1: Vector::zeros(),
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im2: Vector::zeros(),
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cfm_factor: 0.0,
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limit: 0.0,
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solver_vel1: u32::MAX,
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solver_vel2: u32::MAX,
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manifold_id: ContactManifoldIndex::MAX,
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manifold_contact_id: [u8::MAX; MAX_MANIFOLD_POINTS],
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num_contacts: u8::MAX,
|
||
normal_part: [ContactConstraintNormalPart::zero(); MAX_MANIFOLD_POINTS],
|
||
tangent_part: [ContactConstraintTangentPart::zero(); MAX_MANIFOLD_POINTS],
|
||
}
|
||
}
|
||
|
||
pub fn warmstart(
|
||
&mut self,
|
||
jacobians: &DVector<Real>,
|
||
bodies: &mut SolverBodies,
|
||
generic_solver_vels: &mut DVector<Real>,
|
||
) {
|
||
let mut solver_vel1 = if self.solver_vel1 == u32::MAX {
|
||
GenericRhs::Fixed
|
||
} else if self.generic_constraint_mask & 0b01 == 0 {
|
||
GenericRhs::SolverVel(bodies.vels[self.solver_vel1 as usize])
|
||
} else {
|
||
GenericRhs::GenericId(self.solver_vel1)
|
||
};
|
||
|
||
let mut solver_vel2 = if self.solver_vel2 == u32::MAX {
|
||
GenericRhs::Fixed
|
||
} else if self.generic_constraint_mask & 0b10 == 0 {
|
||
GenericRhs::SolverVel(bodies.vels[self.solver_vel2 as usize])
|
||
} else {
|
||
GenericRhs::GenericId(self.solver_vel2)
|
||
};
|
||
|
||
let tangent_parts = &mut self.tangent_part[..self.num_contacts as usize];
|
||
let normal_parts = &mut self.normal_part[..self.num_contacts as usize];
|
||
Self::generic_warmstart_group(
|
||
normal_parts,
|
||
tangent_parts,
|
||
jacobians,
|
||
&self.dir1,
|
||
#[cfg(feature = "dim3")]
|
||
&self.tangent1,
|
||
&self.im1,
|
||
&self.im2,
|
||
self.ndofs1,
|
||
self.ndofs2,
|
||
self.j_id,
|
||
&mut solver_vel1,
|
||
&mut solver_vel2,
|
||
generic_solver_vels,
|
||
);
|
||
|
||
if let GenericRhs::SolverVel(solver_vel1) = solver_vel1 {
|
||
bodies.vels[self.solver_vel1 as usize] = solver_vel1;
|
||
}
|
||
|
||
if let GenericRhs::SolverVel(solver_vel2) = solver_vel2 {
|
||
bodies.vels[self.solver_vel2 as usize] = solver_vel2;
|
||
}
|
||
}
|
||
|
||
pub fn solve(
|
||
&mut self,
|
||
jacobians: &DVector<Real>,
|
||
bodies: &mut SolverBodies,
|
||
generic_solver_vels: &mut DVector<Real>,
|
||
solve_restitution: bool,
|
||
solve_friction: bool,
|
||
) {
|
||
let mut solver_vel1 = if self.solver_vel1 == u32::MAX {
|
||
GenericRhs::Fixed
|
||
} else if self.generic_constraint_mask & 0b01 == 0 {
|
||
GenericRhs::SolverVel(bodies.vels[self.solver_vel1 as usize])
|
||
} else {
|
||
GenericRhs::GenericId(self.solver_vel1)
|
||
};
|
||
|
||
let mut solver_vel2 = if self.solver_vel2 == u32::MAX {
|
||
GenericRhs::Fixed
|
||
} else if self.generic_constraint_mask & 0b10 == 0 {
|
||
GenericRhs::SolverVel(bodies.vels[self.solver_vel2 as usize])
|
||
} else {
|
||
GenericRhs::GenericId(self.solver_vel2)
|
||
};
|
||
|
||
let normal_parts = &mut self.normal_part[..self.num_contacts as usize];
|
||
let tangent_parts = &mut self.tangent_part[..self.num_contacts as usize];
|
||
Self::generic_solve_group(
|
||
self.cfm_factor,
|
||
normal_parts,
|
||
tangent_parts,
|
||
jacobians,
|
||
&self.dir1,
|
||
#[cfg(feature = "dim3")]
|
||
&self.tangent1,
|
||
&self.im1,
|
||
&self.im2,
|
||
self.limit,
|
||
self.ndofs1,
|
||
self.ndofs2,
|
||
self.j_id,
|
||
&mut solver_vel1,
|
||
&mut solver_vel2,
|
||
generic_solver_vels,
|
||
solve_restitution,
|
||
solve_friction,
|
||
);
|
||
|
||
if let GenericRhs::SolverVel(solver_vel1) = solver_vel1 {
|
||
bodies.vels[self.solver_vel1 as usize] = solver_vel1;
|
||
}
|
||
|
||
if let GenericRhs::SolverVel(solver_vel2) = solver_vel2 {
|
||
bodies.vels[self.solver_vel2 as usize] = solver_vel2;
|
||
}
|
||
}
|
||
|
||
pub fn writeback_impulses(&self, manifolds_all: &mut [&mut ContactManifold]) {
|
||
let manifold = &mut manifolds_all[self.manifold_id];
|
||
|
||
for k in 0..self.num_contacts as usize {
|
||
let contact_id = self.manifold_contact_id[k];
|
||
let active_contact = &mut manifold.points[contact_id as usize];
|
||
active_contact.data.warmstart_impulse = self.normal_part[k].impulse;
|
||
active_contact.data.warmstart_tangent_impulse = self.tangent_part[k].impulse;
|
||
active_contact.data.impulse = self.normal_part[k].total_impulse();
|
||
active_contact.data.tangent_impulse = self.tangent_part[k].total_impulse();
|
||
}
|
||
}
|
||
|
||
pub fn remove_cfm_and_bias_from_rhs(&mut self) {
|
||
self.cfm_factor = 1.0;
|
||
for normal_part in &mut self.normal_part {
|
||
normal_part.rhs = normal_part.rhs_wo_bias;
|
||
}
|
||
for tangent_part in &mut self.tangent_part {
|
||
tangent_part.rhs = tangent_part.rhs_wo_bias;
|
||
}
|
||
}
|
||
}
|