Merge pull request #79 from dimforge/split_geom

Move most of the geometric code to another crate.

1 files changed, 47 insertions, 119 deletions

diff --git a/src/dynamics/solver/position_constraint_wide.rs b/src/dynamics/solver/position_constraint_wide.rs
index 0633926..67b5cdb 100644
--- a/src/dynamics/solver/position_constraint_wide.rs
+++ b/src/dynamics/solver/position_constraint_wide.rs
@@ -1,29 +1,29 @@
 use super::AnyPositionConstraint;
 use crate::dynamics::{IntegrationParameters, RigidBodySet};
-use crate::geometry::{ContactManifold, KinematicsCategory};
+use crate::geometry::ContactManifold;
 use crate::math::{
-    AngularInertia, Isometry, Point, Rotation, SimdFloat, Translation, Vector, MAX_MANIFOLD_POINTS,
-    SIMD_WIDTH,
+    AngularInertia, Isometry, Point, Real, Rotation, SimdReal, Translation, Vector,
+    MAX_MANIFOLD_POINTS, SIMD_WIDTH,
 };
 use crate::utils::{WAngularInertia, WCross, WDot};
 
 use num::Zero;
-use simba::simd::{SimdBool as _, SimdComplexField, SimdPartialOrd, SimdValue};
+use simba::simd::{SimdBool as _, SimdPartialOrd, SimdValue};
 
 pub(crate) struct WPositionConstraint {
     pub rb1: [usize; SIMD_WIDTH],
     pub rb2: [usize; SIMD_WIDTH],
     // NOTE: the points are relative to the center of masses.
-    pub local_p1: [Point<SimdFloat>; MAX_MANIFOLD_POINTS],
-    pub local_p2: [Point<SimdFloat>; MAX_MANIFOLD_POINTS],
-    pub local_n1: Vector<SimdFloat>,
-    pub radius: SimdFloat,
-    pub im1: SimdFloat,
-    pub im2: SimdFloat,
-    pub ii1: AngularInertia<SimdFloat>,
-    pub ii2: AngularInertia<SimdFloat>,
-    pub erp: SimdFloat,
-    pub max_linear_correction: SimdFloat,
+    pub local_p1: [Point<SimdReal>; MAX_MANIFOLD_POINTS],
+    pub local_p2: [Point<SimdReal>; MAX_MANIFOLD_POINTS],
+    pub dists: [SimdReal; MAX_MANIFOLD_POINTS],
+    pub local_n1: Vector<SimdReal>,
+    pub im1: SimdReal,
+    pub im2: SimdReal,
+    pub ii1: AngularInertia<SimdReal>,
+    pub ii2: AngularInertia<SimdReal>,
+    pub erp: SimdReal,
+    pub max_linear_correction: SimdReal,
     pub num_contacts: u8,
 }
 
@@ -35,32 +35,32 @@ impl WPositionConstraint {
         out_constraints: &mut Vec<AnyPositionConstraint>,
         push: bool,
     ) {
-        let rbs1 = array![|ii| bodies.get(manifolds[ii].body_pair.body1).unwrap(); SIMD_WIDTH];
-        let rbs2 = array![|ii| bodies.get(manifolds[ii].body_pair.body2).unwrap(); SIMD_WIDTH];
+        let rbs1 = array![|ii| bodies.get(manifolds[ii].data.body_pair.body1).unwrap(); SIMD_WIDTH];
+        let rbs2 = array![|ii| bodies.get(manifolds[ii].data.body_pair.body2).unwrap(); SIMD_WIDTH];
 
-        let im1 = SimdFloat::from(array![|ii| rbs1[ii].mass_properties.inv_mass; SIMD_WIDTH]);
-        let sqrt_ii1: AngularInertia<SimdFloat> =
-            AngularInertia::from(array![|ii| rbs1[ii].world_inv_inertia_sqrt; SIMD_WIDTH]);
-        let im2 = SimdFloat::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
-        let sqrt_ii2: AngularInertia<SimdFloat> =
-            AngularInertia::from(array![|ii| rbs2[ii].world_inv_inertia_sqrt; SIMD_WIDTH]);
+        let im1 = SimdReal::from(array![|ii| rbs1[ii].effective_inv_mass; SIMD_WIDTH]);
+        let sqrt_ii1: AngularInertia<SimdReal> = AngularInertia::from(
+            array![|ii| rbs1[ii].effective_world_inv_inertia_sqrt; SIMD_WIDTH],
+        );
+        let im2 = SimdReal::from(array![|ii| rbs2[ii].effective_inv_mass; SIMD_WIDTH]);
+        let sqrt_ii2: AngularInertia<SimdReal> = AngularInertia::from(
+            array![|ii| rbs2[ii].effective_world_inv_inertia_sqrt; SIMD_WIDTH],
+        );
 
-        let local_n1 = Vector::from(array![|ii| manifolds[ii].local_n1; SIMD_WIDTH]);
-        let local_n2 = Vector::from(array![|ii| manifolds[ii].local_n2; SIMD_WIDTH]);
+        let pos1 = Isometry::from(array![|ii| rbs1[ii].position; SIMD_WIDTH]);
+        let pos2 = Isometry::from(array![|ii| rbs2[ii].position; SIMD_WIDTH]);
 
-        let radius1 = SimdFloat::from(array![|ii| manifolds[ii].kinematics.radius1; SIMD_WIDTH]);
-        let radius2 = SimdFloat::from(array![|ii| manifolds[ii].kinematics.radius2; SIMD_WIDTH]);
-
-        let delta1 = Isometry::from(array![|ii| manifolds[ii].delta1; SIMD_WIDTH]);
-        let delta2 = Isometry::from(array![|ii| manifolds[ii].delta2; SIMD_WIDTH]);
+        let local_n1 = pos1.inverse_transform_vector(&Vector::from(
+            array![|ii| manifolds[ii].data.normal; SIMD_WIDTH],
+        ));
 
         let rb1 = array![|ii| rbs1[ii].active_set_offset; SIMD_WIDTH];
         let rb2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
 
-        let radius = radius1 + radius2 /*- SimdFloat::splat(params.allowed_linear_error)*/;
+        let num_active_contacts = manifolds[0].data.num_active_contacts();
 
-        for l in (0..manifolds[0].num_active_contacts()).step_by(MAX_MANIFOLD_POINTS) {
-            let manifold_points = array![|ii| &manifolds[ii].active_contacts()[l..]; SIMD_WIDTH];
+        for l in (0..num_active_contacts).step_by(MAX_MANIFOLD_POINTS) {
+            let manifold_points = array![|ii| &manifolds[ii].data.solver_contacts[l..]; SIMD_WIDTH];
             let num_points = manifold_points[0].len().min(MAX_MANIFOLD_POINTS);
 
             let mut constraint = WPositionConstraint {
@@ -69,114 +69,42 @@ impl WPositionConstraint {
                 local_p1: [Point::origin(); MAX_MANIFOLD_POINTS],
                 local_p2: [Point::origin(); MAX_MANIFOLD_POINTS],
                 local_n1,
-                radius,
+                dists: [SimdReal::zero(); MAX_MANIFOLD_POINTS],
                 im1,
                 im2,
                 ii1: sqrt_ii1.squared(),
                 ii2: sqrt_ii2.squared(),
-                erp: SimdFloat::splat(params.erp),
-                max_linear_correction: SimdFloat::splat(params.max_linear_correction),
+                erp: SimdReal::splat(params.erp),
+                max_linear_correction: SimdReal::splat(params.max_linear_correction),
                 num_contacts: num_points as u8,
             };
 
-            let shift1 = local_n1 * -radius1;
-            let shift2 = local_n2 * -radius2;
-
             for i in 0..num_points {
-                let local_p1 =
-                    Point::from(array![|ii| manifold_points[ii][i].local_p1; SIMD_WIDTH]);
-                let local_p2 =
-                    Point::from(array![|ii| manifold_points[ii][i].local_p2; SIMD_WIDTH]);
-
-                constraint.local_p1[i] = delta1 * (local_p1 + shift1);
-                constraint.local_p2[i] = delta2 * (local_p2 + shift2);
+                let point = Point::from(array![|ii| manifold_points[ii][i].point; SIMD_WIDTH]);
+                let dist = SimdReal::from(array![|ii| manifold_points[ii][i].dist; SIMD_WIDTH]);
+                constraint.local_p1[i] = pos1.inverse_transform_point(&point);
+                constraint.local_p2[i] = pos2.inverse_transform_point(&point);
+                constraint.dists[i] = dist;
             }
 
             if push {
-                if manifolds[0].kinematics.category == KinematicsCategory::PointPoint {
-                    out_constraints.push(AnyPositionConstraint::GroupedPointPoint(constraint));
-                } else {
-                    out_constraints.push(AnyPositionConstraint::GroupedPlanePoint(constraint));
-                }
+                out_constraints.push(AnyPositionConstraint::GroupedNonGround(constraint));
             } else {
-                if manifolds[0].kinematics.category == KinematicsCategory::PointPoint {
-                    out_constraints[manifolds[0].constraint_index + l / MAX_MANIFOLD_POINTS] =
-                        AnyPositionConstraint::GroupedPointPoint(constraint);
-                } else {
-                    out_constraints[manifolds[0].constraint_index + l / MAX_MANIFOLD_POINTS] =
-                        AnyPositionConstraint::GroupedPlanePoint(constraint);
-                }
+                out_constraints[manifolds[0].data.constraint_index + l / MAX_MANIFOLD_POINTS] =
+                    AnyPositionConstraint::GroupedNonGround(constraint);
             }
         }
     }
 
-    pub fn solve_point_point(
-        &self,
-        params: &IntegrationParameters,
-        positions: &mut [Isometry<f32>],
-    ) {
-        // FIXME: can we avoid most of the multiplications by pos1/pos2?
-        // Compute jacobians.
-        let mut pos1 = Isometry::from(array![|ii| positions[self.rb1[ii]]; SIMD_WIDTH]);
-        let mut pos2 = Isometry::from(array![|ii| positions[self.rb2[ii]]; SIMD_WIDTH]);
-        let allowed_err = SimdFloat::splat(params.allowed_linear_error);
-        let target_dist = self.radius - allowed_err;
-
-        for k in 0..self.num_contacts as usize {
-            let p1 = pos1 * self.local_p1[k];
-            let p2 = pos2 * self.local_p2[k];
-
-            let dpos = p2 - p1;
-            let sqdist = dpos.norm_squared();
-
-            if sqdist.simd_lt(target_dist * target_dist).any() {
-                let dist = sqdist.simd_sqrt();
-                let n = dpos / dist;
-                let err = ((dist - target_dist) * self.erp)
-                    .simd_clamp(-self.max_linear_correction, SimdFloat::zero());
-                let dp1 = p1.coords - pos1.translation.vector;
-                let dp2 = p2.coords - pos2.translation.vector;
-
-                let gcross1 = dp1.gcross(n);
-                let gcross2 = -dp2.gcross(n);
-                let ii_gcross1 = self.ii1.transform_vector(gcross1);
-                let ii_gcross2 = self.ii2.transform_vector(gcross2);
-
-                // Compute impulse.
-                let inv_r =
-                    self.im1 + self.im2 + gcross1.gdot(ii_gcross1) + gcross2.gdot(ii_gcross2);
-                let impulse = err / inv_r;
-
-                // Apply impulse.
-                pos1.translation = Translation::from(n * (impulse * self.im1)) * pos1.translation;
-                pos1.rotation = Rotation::new(ii_gcross1 * impulse) * pos1.rotation;
-                pos2.translation = Translation::from(n * (-impulse * self.im2)) * pos2.translation;
-                pos2.rotation = Rotation::new(ii_gcross2 * impulse) * pos2.rotation;
-            }
-        }
-
-        for ii in 0..SIMD_WIDTH {
-            positions[self.rb1[ii]] = pos1.extract(ii);
-        }
-
-        for ii in 0..SIMD_WIDTH {
-            positions[self.rb2[ii]] = pos2.extract(ii);
-        }
-    }
-
-    pub fn solve_plane_point(
-        &self,
-        params: &IntegrationParameters,
-        positions: &mut [Isometry<f32>],
-    ) {
+    pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<Real>]) {
         // FIXME: can we avoid most of the multiplications by pos1/pos2?
         // Compute jacobians.
         let mut pos1 = Isometry::from(array![|ii| positions[self.rb1[ii]]; SIMD_WIDTH]);
         let mut pos2 = Isometry::from(array![|ii| positions[self.rb2[ii]]; SIMD_WIDTH]);
-        let allowed_err = SimdFloat::splat(params.allowed_linear_error);
-        let target_dist = self.radius - allowed_err;
+        let allowed_err = SimdReal::splat(params.allowed_linear_error);
 
         for k in 0..self.num_contacts as usize {
+            let target_dist = -self.dists[k] - allowed_err;
             let n1 = pos1 * self.local_n1;
             let p1 = pos1 * self.local_p1[k];
             let p2 = pos2 * self.local_p2[k];
@@ -188,7 +116,7 @@ impl WPositionConstraint {
                 // NOTE: only works for the point-point case.
                 let p1 = p2 - n1 * dist;
                 let err = ((dist - target_dist) * self.erp)
-                    .simd_clamp(-self.max_linear_correction, SimdFloat::zero());
+                    .simd_clamp(-self.max_linear_correction, SimdReal::zero());
                 let dp1 = p1.coords - pos1.translation.vector;
                 let dp2 = p2.coords - pos2.translation.vector;