Implement multibody joints and the new solver

1 files changed, 65 insertions, 224 deletions

diff --git a/src/dynamics/joint/prismatic_joint.rs b/src/dynamics/joint/prismatic_joint.rs
index 69edcb7..92fabde 100644
--- a/src/dynamics/joint/prismatic_joint.rs
+++ b/src/dynamics/joint/prismatic_joint.rs
@@ -1,250 +1,91 @@
-use crate::dynamics::SpringModel;
-use crate::math::{Isometry, Point, Real, Vector, DIM};
-use crate::utils::WBasis;
-use na::Unit;
-#[cfg(feature = "dim2")]
-use na::Vector2;
-#[cfg(feature = "dim3")]
-use na::Vector5;
+use crate::dynamics::joint::{JointAxesMask, JointData};
+use crate::dynamics::{JointAxis, MotorModel};
+use crate::math::{Point, Real, UnitVector};
 
-#[derive(Copy, Clone, PartialEq)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
-/// A joint that removes all relative motion between two bodies, except for the translations along one axis.
+#[derive(Copy, Clone, Debug, PartialEq)]
 pub struct PrismaticJoint {
-    /// Where the prismatic joint is attached on the first body, expressed in the local space of the first attached body.
-    pub local_anchor1: Point<Real>,
-    /// Where the prismatic joint is attached on the second body, expressed in the local space of the second attached body.
-    pub local_anchor2: Point<Real>,
-    pub(crate) local_axis1: Unit<Vector<Real>>,
-    pub(crate) local_axis2: Unit<Vector<Real>>,
-    pub(crate) basis1: [Vector<Real>; DIM - 1],
-    pub(crate) basis2: [Vector<Real>; DIM - 1],
-
-    /// The impulse applied by this joint on the first body.
-    ///
-    /// The impulse applied to the second body is given by `-impulse`.
-    #[cfg(feature = "dim3")]
-    pub impulse: Vector5<Real>,
-    /// The impulse applied by this joint on the first body.
-    ///
-    /// The impulse applied to the second body is given by `-impulse`.
-    #[cfg(feature = "dim2")]
-    pub impulse: Vector2<Real>,
-
-    /// Whether or not this joint should enforce translational limits along its axis.
-    pub limits_enabled: bool,
-    /// The min an max relative position of the attached bodies along this joint's axis.
-    pub limits: [Real; 2],
-    /// The impulse applied by this joint on the first body to enforce the position limit along this joint's axis.
-    ///
-    /// The impulse applied to the second body is given by `-impulse`.
-    pub limits_impulse: Real,
-
-    /// The target relative angular velocity the motor will attempt to reach.
-    pub motor_target_vel: Real,
-    /// The target relative angle along the joint axis the motor will attempt to reach.
-    pub motor_target_pos: Real,
-    /// The motor's stiffness.
-    /// See the documentation of `SpringModel` for more information on this parameter.
-    pub motor_stiffness: Real,
-    /// The motor's damping.
-    /// See the documentation of `SpringModel` for more information on this parameter.
-    pub motor_damping: Real,
-    /// The maximal impulse the motor is able to deliver.
-    pub motor_max_impulse: Real,
-    /// The angular impulse applied by the motor.
-    pub motor_impulse: Real,
-    /// The spring-like model used by the motor to reach the target velocity and .
-    pub motor_model: SpringModel,
+    data: JointData,
 }
 
 impl PrismaticJoint {
-    /// Creates a new prismatic joint with the given point of applications and axis, all expressed
-    /// in the local-space of the affected bodies.
-    #[cfg(feature = "dim2")]
-    pub fn new(
-        local_anchor1: Point<Real>,
-        local_axis1: Unit<Vector<Real>>,
-        local_anchor2: Point<Real>,
-        local_axis2: Unit<Vector<Real>>,
-    ) -> Self {
-        Self {
-            local_anchor1,
-            local_anchor2,
-            local_axis1,
-            local_axis2,
-            basis1: local_axis1.orthonormal_basis(),
-            basis2: local_axis2.orthonormal_basis(),
-            impulse: na::zero(),
-            limits_enabled: false,
-            limits: [-Real::MAX, Real::MAX],
-            limits_impulse: 0.0,
-            motor_target_vel: 0.0,
-            motor_target_pos: 0.0,
-            motor_stiffness: 0.0,
-            motor_damping: 0.0,
-            motor_max_impulse: Real::MAX,
-            motor_impulse: 0.0,
-            motor_model: SpringModel::VelocityBased,
-        }
-    }
-
-    /// Creates a new prismatic joint with the given point of applications and axis, all expressed
-    /// in the local-space of the affected bodies.
-    ///
-    /// The local tangent are vector orthogonal to the local axis. It is used to compute a basis orthonormal
-    /// to the joint's axis. If this tangent is set to zero, te orthonormal basis will be automatically
-    /// computed arbitrarily.
-    #[cfg(feature = "dim3")]
-    pub fn new(
-        local_anchor1: Point<Real>,
-        local_axis1: Unit<Vector<Real>>,
-        local_tangent1: Vector<Real>,
-        local_anchor2: Point<Real>,
-        local_axis2: Unit<Vector<Real>>,
-        local_tangent2: Vector<Real>,
-    ) -> Self {
-        let basis1 = if let Some(local_bitangent1) =
-            Unit::try_new(local_axis1.cross(&local_tangent1), 1.0e-3)
-        {
-            [
-                local_bitangent1.cross(&local_axis1),
-                local_bitangent1.into_inner(),
-            ]
-        } else {
-            local_axis1.orthonormal_basis()
-        };
-
-        let basis2 = if let Some(local_bitangent2) =
-            Unit::try_new(local_axis2.cross(&local_tangent2), 2.0e-3)
-        {
-            [
-                local_bitangent2.cross(&local_axis2),
-                local_bitangent2.into_inner(),
-            ]
-        } else {
-            local_axis2.orthonormal_basis()
-        };
-
-        Self {
-            local_anchor1,
-            local_anchor2,
-            local_axis1,
-            local_axis2,
-            basis1,
-            basis2,
-            impulse: na::zero(),
-            limits_enabled: false,
-            limits: [-Real::MAX, Real::MAX],
-            limits_impulse: 0.0,
-            motor_target_vel: 0.0,
-            motor_target_pos: 0.0,
-            motor_stiffness: 0.0,
-            motor_damping: 0.0,
-            motor_max_impulse: Real::MAX,
-            motor_impulse: 0.0,
-            motor_model: SpringModel::VelocityBased,
-        }
-    }
-
-    /// The local axis of this joint, expressed in the local-space of the first attached body.
-    pub fn local_axis1(&self) -> Unit<Vector<Real>> {
-        self.local_axis1
-    }
-
-    /// The local axis of this joint, expressed in the local-space of the second attached body.
-    pub fn local_axis2(&self) -> Unit<Vector<Real>> {
-        self.local_axis2
+    pub fn new(axis: UnitVector<Real>) -> Self {
+        #[cfg(feature = "dim2")]
+        let mask = JointAxesMask::Y | JointAxesMask::ANG_X;
+        #[cfg(feature = "dim3")]
+        let mask = JointAxesMask::Y
+            | JointAxesMask::Z
+            | JointAxesMask::ANG_X
+            | JointAxesMask::ANG_Y
+            | JointAxesMask::ANG_Z;
+
+        let data = JointData::default()
+            .lock_axes(mask)
+            .local_axis1(axis)
+            .local_axis2(axis);
+        Self { data }
     }
 
-    /// Can a SIMD constraint be used for resolving this joint?
-    pub fn supports_simd_constraints(&self) -> bool {
-        // SIMD revolute constraints don't support motors right now.
-        self.motor_max_impulse == 0.0 || (self.motor_stiffness == 0.0 && self.motor_damping == 0.0)
+    #[must_use]
+    pub fn local_anchor1(mut self, anchor1: Point<Real>) -> Self {
+        self.data = self.data.local_anchor1(anchor1);
+        self
     }
 
-    // FIXME: precompute this?
-    #[cfg(feature = "dim2")]
-    pub(crate) fn local_frame1(&self) -> Isometry<Real> {
-        use na::{Matrix2, Rotation2, UnitComplex};
-
-        let mat = Matrix2::from_columns(&[self.local_axis1.into_inner(), self.basis1[0]]);
-        let rotmat = Rotation2::from_matrix_unchecked(mat);
-        let rotation = UnitComplex::from_rotation_matrix(&rotmat);
-        let translation = self.local_anchor1.coords.into();
-        Isometry::from_parts(translation, rotation)
-    }
-
-    // FIXME: precompute this?
-    #[cfg(feature = "dim2")]
-    pub(crate) fn local_frame2(&self) -> Isometry<Real> {
-        use na::{Matrix2, Rotation2, UnitComplex};
-
-        let mat = Matrix2::from_columns(&[self.local_axis2.into_inner(), self.basis2[0]]);
-        let rotmat = Rotation2::from_matrix_unchecked(mat);
-        let rotation = UnitComplex::from_rotation_matrix(&rotmat);
-        let translation = self.local_anchor2.coords.into();
-        Isometry::from_parts(translation, rotation)
-    }
-
-    // FIXME: precompute this?
-    #[cfg(feature = "dim3")]
-    pub(crate) fn local_frame1(&self) -> Isometry<Real> {
-        use na::{Matrix3, Rotation3, UnitQuaternion};
-
-        let mat = Matrix3::from_columns(&[
-            self.local_axis1.into_inner(),
-            self.basis1[0],
-            self.basis1[1],
-        ]);
-        let rotmat = Rotation3::from_matrix_unchecked(mat);
-        let rotation = UnitQuaternion::from_rotation_matrix(&rotmat);
-        let translation = self.local_anchor1.coords.into();
-        Isometry::from_parts(translation, rotation)
-    }
-
-    // FIXME: precompute this?
-    #[cfg(feature = "dim3")]
-    pub(crate) fn local_frame2(&self) -> Isometry<Real> {
-        use na::{Matrix3, Rotation3, UnitQuaternion};
-
-        let mat = Matrix3::from_columns(&[
-            self.local_axis2.into_inner(),
-            self.basis2[0],
-            self.basis2[1],
-        ]);
-        let rotmat = Rotation3::from_matrix_unchecked(mat);
-        let rotation = UnitQuaternion::from_rotation_matrix(&rotmat);
-        let translation = self.local_anchor2.coords.into();
-        Isometry::from_parts(translation, rotation)
+    #[must_use]
+    pub fn local_anchor2(mut self, anchor2: Point<Real>) -> Self {
+        self.data = self.data.local_anchor2(anchor2);
+        self
     }
 
     /// Set the spring-like model used by the motor to reach the desired target velocity and position.
-    pub fn configure_motor_model(&mut self, model: SpringModel) {
-        self.motor_model = model;
+    pub fn motor_model(mut self, model: MotorModel) -> Self {
+        self.data = self.data.motor_model(JointAxis::X, model);
+        self
     }
 
     /// Sets the target velocity this motor needs to reach.
-    pub fn configure_motor_velocity(&mut self, target_vel: Real, factor: Real) {
-        self.configure_motor(self.motor_target_pos, target_vel, 0.0, factor)
+    pub fn motor_velocity(mut self, target_vel: Real, factor: Real) -> Self {
+        self.data = self.data.motor_velocity(JointAxis::X, target_vel, factor);
+        self
     }
 
-    /// Sets the target position this motor needs to reach.
-    pub fn configure_motor_position(&mut self, target_pos: Real, stiffness: Real, damping: Real) {
-        self.configure_motor(target_pos, 0.0, stiffness, damping)
+    /// Sets the target angle this motor needs to reach.
+    pub fn motor_position(mut self, target_pos: Real, stiffness: Real, damping: Real) -> Self {
+        self.data = self
+            .data
+            .motor_position(JointAxis::X, target_pos, stiffness, damping);
+        self
     }
 
-    /// Configure both the target position and target velocity of the motor.
-    pub fn configure_motor(
-        &mut self,
+    /// Configure both the target angle and target velocity of the motor.
+    pub fn motor_axis(
+        mut self,
         target_pos: Real,
         target_vel: Real,
         stiffness: Real,
         damping: Real,
-    ) {
-        self.motor_target_vel = target_vel;
-        self.motor_target_pos = target_pos;
-        self.motor_stiffness = stiffness;
-        self.motor_damping = damping;
+    ) -> Self {
+        self.data = self
+            .data
+            .motor_axis(JointAxis::X, target_pos, target_vel, stiffness, damping);
+        self
+    }
+
+    pub fn motor_max_impulse(mut self, max_impulse: Real) -> Self {
+        self.data = self.data.motor_max_impulse(JointAxis::X, max_impulse);
+        self
+    }
+
+    #[must_use]
+    pub fn limit_axis(mut self, limits: [Real; 2]) -> Self {
+        self.data = self.data.limit_axis(JointAxis::X, limits);
+        self
+    }
+}
+
+impl Into<JointData> for PrismaticJoint {
+    fn into(self) -> JointData {
+        self.data
     }
 }