Merge pull request #267 from dimforge/multibody

Implement multibody joints, and new velocity-based constraints solver

1 files changed, 78 insertions, 73 deletions

diff --git a/src/dynamics/solver/island_solver.rs b/src/dynamics/solver/island_solver.rs
index 912fe1d..a862480 100644
--- a/src/dynamics/solver/island_solver.rs
+++ b/src/dynamics/solver/island_solver.rs
@@ -1,9 +1,8 @@
-use super::{PositionSolver, VelocitySolver};
+use super::VelocitySolver;
 use crate::counters::Counters;
 use crate::data::{BundleSet, ComponentSet, ComponentSetMut};
 use crate::dynamics::solver::{
-    AnyJointPositionConstraint, AnyJointVelocityConstraint, AnyPositionConstraint,
-    AnyVelocityConstraint, SolverConstraints,
+    AnyJointVelocityConstraint, AnyVelocityConstraint, GenericVelocityConstraint, SolverConstraints,
 };
 use crate::dynamics::{
     IntegrationParameters, JointGraphEdge, JointIndex, RigidBodyDamping, RigidBodyForces,
@@ -11,12 +10,12 @@ use crate::dynamics::{
 };
 use crate::dynamics::{IslandManager, RigidBodyVelocity};
 use crate::geometry::{ContactManifold, ContactManifoldIndex};
+use crate::prelude::{MultibodyJointSet, RigidBodyActivation};
 
 pub struct IslandSolver {
-    contact_constraints: SolverConstraints<AnyVelocityConstraint, AnyPositionConstraint>,
-    joint_constraints: SolverConstraints<AnyJointVelocityConstraint, AnyJointPositionConstraint>,
+    contact_constraints: SolverConstraints<AnyVelocityConstraint, GenericVelocityConstraint>,
+    joint_constraints: SolverConstraints<AnyJointVelocityConstraint, ()>,
     velocity_solver: VelocitySolver,
-    position_solver: PositionSolver,
 }
 
 impl Default for IslandSolver {
@@ -31,33 +30,10 @@ impl IslandSolver {
             contact_constraints: SolverConstraints::new(),
             joint_constraints: SolverConstraints::new(),
             velocity_solver: VelocitySolver::new(),
-            position_solver: PositionSolver::new(),
         }
     }
 
-    pub fn solve_position_constraints<Bodies>(
-        &mut self,
-        island_id: usize,
-        islands: &IslandManager,
-        counters: &mut Counters,
-        params: &IntegrationParameters,
-        bodies: &mut Bodies,
-    ) where
-        Bodies: ComponentSet<RigidBodyIds> + ComponentSetMut<RigidBodyPosition>,
-    {
-        counters.solver.position_resolution_time.resume();
-        self.position_solver.solve(
-            island_id,
-            params,
-            islands,
-            bodies,
-            &self.contact_constraints.position_constraints,
-            &self.joint_constraints.position_constraints,
-        );
-        counters.solver.position_resolution_time.pause();
-    }
-
-    pub fn init_constraints_and_solve_velocity_constraints<Bodies>(
+    pub fn init_and_solve<Bodies>(
         &mut self,
         island_id: usize,
         counters: &mut Counters,
@@ -66,31 +42,64 @@ impl IslandSolver {
         bodies: &mut Bodies,
         manifolds: &mut [&mut ContactManifold],
         manifold_indices: &[ContactManifoldIndex],
-        joints: &mut [JointGraphEdge],
+        impulse_joints: &mut [JointGraphEdge],
         joint_indices: &[JointIndex],
+        multibody_joints: &mut MultibodyJointSet,
     ) where
         Bodies: ComponentSet<RigidBodyForces>
             + ComponentSetMut<RigidBodyPosition>
             + ComponentSetMut<RigidBodyVelocity>
-            + ComponentSet<RigidBodyMassProps>
+            + ComponentSetMut<RigidBodyMassProps>
+            + ComponentSetMut<RigidBodyActivation>
             + ComponentSet<RigidBodyDamping>
             + ComponentSet<RigidBodyIds>
             + ComponentSet<RigidBodyType>,
     {
-        let has_constraints = manifold_indices.len() != 0 || joint_indices.len() != 0;
+        let mut has_constraints = manifold_indices.len() != 0 || joint_indices.len() != 0;
+        if !has_constraints {
+            // Check if the multibody_joints have internal constraints.
+            for handle in islands.active_island(island_id) {
+                if let Some(link) = multibody_joints.rigid_body_link(*handle) {
+                    let multibody = multibody_joints.get_multibody(link.multibody).unwrap();
+
+                    if (link.id == 0 || link.id == 1 && !multibody.root_is_dynamic)
+                        && multibody.has_active_internal_constraints()
+                    {
+                        has_constraints = true;
+                        break;
+                    }
+                }
+            }
+        }
 
         if has_constraints {
+            // Init the solver id for multibody_joints.
+            // We need that for building the constraints.
+            let mut solver_id = 0;
+            for (_, multibody) in multibody_joints.multibodies.iter_mut() {
+                multibody.solver_id = solver_id;
+                solver_id += multibody.ndofs();
+            }
+
             counters.solver.velocity_assembly_time.resume();
             self.contact_constraints.init(
                 island_id,
                 params,
                 islands,
                 bodies,
+                multibody_joints,
                 manifolds,
                 manifold_indices,
             );
-            self.joint_constraints
-                .init(island_id, params, islands, bodies, joints, joint_indices);
+            self.joint_constraints.init(
+                island_id,
+                params,
+                islands,
+                bodies,
+                multibody_joints,
+                impulse_joints,
+                joint_indices,
+            );
             counters.solver.velocity_assembly_time.pause();
 
             counters.solver.velocity_resolution_time.resume();
@@ -99,57 +108,53 @@ impl IslandSolver {
                 params,
                 islands,
                 bodies,
+                multibody_joints,
                 manifolds,
-                joints,
+                impulse_joints,
                 &mut self.contact_constraints.velocity_constraints,
+                &mut self.contact_constraints.generic_velocity_constraints,
+                &self.contact_constraints.generic_jacobians,
                 &mut self.joint_constraints.velocity_constraints,
+                &self.joint_constraints.generic_jacobians,
             );
             counters.solver.velocity_resolution_time.pause();
-
-            counters.solver.velocity_update_time.resume();
-
-            for handle in islands.active_island(island_id) {
-                let (poss, vels, damping, mprops): (
-                    &RigidBodyPosition,
-                    &RigidBodyVelocity,
-                    &RigidBodyDamping,
-                    &RigidBodyMassProps,
-                ) = bodies.index_bundle(handle.0);
-
-                let mut new_poss = *poss;
-                let new_vels = vels.apply_damping(params.dt, damping);
-                new_poss.next_position =
-                    vels.integrate(params.dt, &poss.position, &mprops.local_mprops.local_com);
-
-                bodies.set_internal(handle.0, new_vels);
-                bodies.set_internal(handle.0, new_poss);
-            }
-
-            counters.solver.velocity_update_time.pause();
         } else {
             self.contact_constraints.clear();
             self.joint_constraints.clear();
             counters.solver.velocity_update_time.resume();
 
             for handle in islands.active_island(island_id) {
-                // Since we didn't run the velocity solver we need to integrate the accelerations here
-                let (poss, vels, forces, damping, mprops): (
-                    &RigidBodyPosition,
-                    &RigidBodyVelocity,
-                    &RigidBodyForces,
-                    &RigidBodyDamping,
-                    &RigidBodyMassProps,
-                ) = bodies.index_bundle(handle.0);
+                if let Some(link) = multibody_joints.rigid_body_link(*handle).copied() {
+                    let multibody = multibody_joints
+                        .get_multibody_mut_internal(link.multibody)
+                        .unwrap();
+
+                    if link.id == 0 || link.id == 1 && !multibody.root_is_dynamic {
+                        let accels = &multibody.accelerations;
+                        multibody.velocities.axpy(params.dt, accels, 1.0);
+                        multibody.integrate_next(params.dt);
+                        multibody.forward_kinematics_next(bodies, false);
+                    }
+                } else {
+                    // Since we didn't run the velocity solver we need to integrate the accelerations here
+                    let (poss, vels, forces, damping, mprops): (
+                        &RigidBodyPosition,
+                        &RigidBodyVelocity,
+                        &RigidBodyForces,
+                        &RigidBodyDamping,
+                        &RigidBodyMassProps,
+                    ) = bodies.index_bundle(handle.0);
 
-                let mut new_poss = *poss;
-                let new_vels = forces
-                    .integrate(params.dt, vels, mprops)
-                    .apply_damping(params.dt, &damping);
-                new_poss.next_position =
-                    vels.integrate(params.dt, &poss.position, &mprops.local_mprops.local_com);
+                    let mut new_poss = *poss;
+                    let new_vels = forces
+                        .integrate(params.dt, vels, mprops)
+                        .apply_damping(params.dt, &damping);
+                    new_poss.next_position =
+                        vels.integrate(params.dt, &poss.position, &mprops.local_mprops.local_com);
 
-                bodies.set_internal(handle.0, new_vels);
-                bodies.set_internal(handle.0, new_poss);
+                    bodies.set_internal(handle.0, new_vels);
+                    bodies.set_internal(handle.0, new_poss);
+                }
             }
             counters.solver.velocity_update_time.pause();
         }