Try using solver contacts again, but in a more cache-coherent way.

1 files changed, 15 insertions, 36 deletions

diff --git a/src/dynamics/solver/position_ground_constraint_wide.rs b/src/dynamics/solver/position_ground_constraint_wide.rs
index 2531b2e..40d5a68 100644
--- a/src/dynamics/solver/position_ground_constraint_wide.rs
+++ b/src/dynamics/solver/position_ground_constraint_wide.rs
@@ -15,8 +15,8 @@ pub(crate) struct WPositionGroundConstraint {
     // NOTE: the points are relative to the center of masses.
     pub p1: [Point<SimdReal>; MAX_MANIFOLD_POINTS],
     pub local_p2: [Point<SimdReal>; MAX_MANIFOLD_POINTS],
+    pub dists: [SimdReal; MAX_MANIFOLD_POINTS],
     pub n1: Vector<SimdReal>,
-    pub radius: SimdReal,
     pub im2: SimdReal,
     pub ii2: AngularInertia<SimdReal>,
     pub erp: SimdReal,
@@ -49,34 +49,17 @@ impl WPositionGroundConstraint {
         let sqrt_ii2: AngularInertia<SimdReal> =
             AngularInertia::from(array![|ii| rbs2[ii].world_inv_inertia_sqrt; SIMD_WIDTH]);
 
-        let local_n1 = Vector::from(
-            array![|ii| if flipped[ii] { manifolds[ii].local_n2 } else { manifolds[ii].local_n1 }; SIMD_WIDTH],
-        );
-        let local_n2 = Vector::from(
-            array![|ii| if flipped[ii] { manifolds[ii].local_n1 } else { manifolds[ii].local_n2 }; SIMD_WIDTH],
-        );
-
-        let delta1 = Isometry::from(
-            array![|ii| if flipped[ii] { manifolds[ii].data.delta2 } else { manifolds[ii].data.delta1 }; SIMD_WIDTH],
-        );
-        let delta2 = Isometry::from(
-            array![|ii| if flipped[ii] { manifolds[ii].data.delta1 } else { manifolds[ii].data.delta2 }; SIMD_WIDTH],
+        let n1 = Vector::from(
+            array![|ii| if flipped[ii] { -manifolds[ii].data.normal } else { manifolds[ii].data.normal }; SIMD_WIDTH],
         );
 
-        let radius1 = SimdReal::from(array![|ii| manifolds[ii].kinematics.radius1; SIMD_WIDTH]);
-        let radius2 = SimdReal::from(array![|ii| manifolds[ii].kinematics.radius2; SIMD_WIDTH]);
-
-        let coll_pos1 =
-            delta1 * Isometry::from(array![|ii| rbs1[ii].predicted_position; SIMD_WIDTH]);
-
+        let pos2 = Isometry::from(array![|ii| rbs2[ii].position; SIMD_WIDTH]);
         let rb2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
 
-        let radius = radius1 + radius2 /*- SimdReal::splat(params.allowed_linear_error)*/;
-
-        let n1 = coll_pos1 * local_n1;
+        let num_active_contacts = manifolds[0].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..num_active_contacts]; SIMD_WIDTH];
             let num_points = manifold_points[0].len().min(MAX_MANIFOLD_POINTS);
 
             let mut constraint = WPositionGroundConstraint {
@@ -84,7 +67,7 @@ impl WPositionGroundConstraint {
                 p1: [Point::origin(); MAX_MANIFOLD_POINTS],
                 local_p2: [Point::origin(); MAX_MANIFOLD_POINTS],
                 n1,
-                radius,
+                dists: [SimdReal::zero(); MAX_MANIFOLD_POINTS],
                 im2,
                 ii2: sqrt_ii2.squared(),
                 erp: SimdReal::splat(params.erp),
@@ -93,15 +76,11 @@ impl WPositionGroundConstraint {
             };
 
             for i in 0..num_points {
-                let local_p1 = Point::from(
-                    array![|ii| if flipped[ii] { manifold_points[ii][i].local_p2 } else { manifold_points[ii][i].local_p1 }; SIMD_WIDTH],
-                );
-                let local_p2 = Point::from(
-                    array![|ii| if flipped[ii] { manifold_points[ii][i].local_p1 } else { manifold_points[ii][i].local_p2 }; SIMD_WIDTH],
-                );
-
-                constraint.p1[i] = coll_pos1 * local_p1 - n1 * radius1;
-                constraint.local_p2[i] = delta2 * (local_p2 - local_n2 * radius2);
+                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.p1[i] = point;
+                constraint.local_p2[i] = pos2.inverse_transform_point(&point);
+                constraint.dists[i] = dist;
             }
 
             if push {
@@ -132,9 +111,9 @@ impl WPositionGroundConstraint {
         // Compute jacobians.
         let mut pos2 = Isometry::from(array![|ii| positions[self.rb2[ii]]; SIMD_WIDTH]);
         let allowed_err = SimdReal::splat(params.allowed_linear_error);
-        let target_dist = self.radius - allowed_err;
 
         for k in 0..self.num_contacts as usize {
+            let target_dist = -self.dists[k] - allowed_err;
             let p1 = self.p1[k];
             let p2 = pos2 * self.local_p2[k];
 
@@ -174,9 +153,9 @@ impl WPositionGroundConstraint {
         // Compute jacobians.
         let mut pos2 = Isometry::from(array![|ii| positions[self.rb2[ii]]; SIMD_WIDTH]);
         let allowed_err = SimdReal::splat(params.allowed_linear_error);
-        let target_dist = self.radius - allowed_err;
 
         for k in 0..self.num_contacts as usize {
+            let target_dist = -self.dists[k] - allowed_err;
             let n1 = self.n1;
             let p1 = self.p1[k];
             let p2 = pos2 * self.local_p2[k];