Implement multibody joints and the new solver

1 files changed, 0 insertions, 143 deletions

diff --git a/src/dynamics/solver/position_ground_constraint_wide.rs b/src/dynamics/solver/position_ground_constraint_wide.rs
deleted file mode 100644
index 7d4ff96..0000000
--- a/src/dynamics/solver/position_ground_constraint_wide.rs
+++ /dev/null
@@ -1,143 +0,0 @@
-use super::AnyPositionConstraint;
-use crate::dynamics::{IntegrationParameters, RigidBodyIds, RigidBodyMassProps, RigidBodyPosition};
-use crate::geometry::ContactManifold;
-use crate::math::{
-    AngularInertia, Isometry, Point, Real, Rotation, SimdReal, Translation, Vector,
-    MAX_MANIFOLD_POINTS, SIMD_WIDTH,
-};
-use crate::utils::{WAngularInertia, WCross, WDot};
-
-use crate::data::ComponentSet;
-use num::Zero;
-use simba::simd::{SimdBool as _, SimdPartialOrd, SimdValue};
-
-pub(crate) struct WPositionGroundConstraint {
-    pub rb2: [usize; SIMD_WIDTH],
-    // 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 im2: SimdReal,
-    pub ii2: AngularInertia<SimdReal>,
-    pub erp: SimdReal,
-    pub max_linear_correction: SimdReal,
-    pub num_contacts: u8,
-}
-
-impl WPositionGroundConstraint {
-    pub fn generate<Bodies>(
-        params: &IntegrationParameters,
-        manifolds: [&ContactManifold; SIMD_WIDTH],
-        bodies: &Bodies,
-        out_constraints: &mut Vec<AnyPositionConstraint>,
-        push: bool,
-    ) where
-        Bodies: ComponentSet<RigidBodyIds>
-            + ComponentSet<RigidBodyPosition>
-            + ComponentSet<RigidBodyMassProps>,
-    {
-        let mut handles1 = gather![|ii| manifolds[ii].data.rigid_body1];
-        let mut handles2 = gather![|ii| manifolds[ii].data.rigid_body2];
-        let mut flipped = [false; SIMD_WIDTH];
-
-        for ii in 0..SIMD_WIDTH {
-            if manifolds[ii].data.relative_dominance < 0 {
-                flipped[ii] = true;
-                std::mem::swap(&mut handles1[ii], &mut handles2[ii]);
-            }
-        }
-
-        let poss2: [&RigidBodyPosition; SIMD_WIDTH] =
-            gather![|ii| bodies.index(handles2[ii].unwrap().0)];
-        let ids2: [&RigidBodyIds; SIMD_WIDTH] = gather![|ii| bodies.index(handles2[ii].unwrap().0)];
-        let mprops2: [&RigidBodyMassProps; SIMD_WIDTH] =
-            gather![|ii| bodies.index(handles2[ii].unwrap().0)];
-
-        let im2 = SimdReal::from(gather![|ii| mprops2[ii].effective_inv_mass]);
-        let sqrt_ii2: AngularInertia<SimdReal> =
-            AngularInertia::from(gather![|ii| mprops2[ii].effective_world_inv_inertia_sqrt]);
-
-        let n1 = Vector::from(gather![|ii| if flipped[ii] {
-            -manifolds[ii].data.normal
-        } else {
-            manifolds[ii].data.normal
-        }]);
-
-        let pos2 = Isometry::from(gather![|ii| poss2[ii].position]);
-        let rb2 = gather![|ii| ids2[ii].active_set_offset];
-
-        let num_active_contacts = manifolds[0].data.num_active_contacts();
-
-        for l in (0..num_active_contacts).step_by(MAX_MANIFOLD_POINTS) {
-            let manifold_points = gather![|ii| &manifolds[ii].data.solver_contacts[l..]];
-            let num_points = manifold_points[0].len().min(MAX_MANIFOLD_POINTS);
-
-            let mut constraint = WPositionGroundConstraint {
-                rb2,
-                p1: [Point::origin(); MAX_MANIFOLD_POINTS],
-                local_p2: [Point::origin(); MAX_MANIFOLD_POINTS],
-                n1,
-                dists: [SimdReal::zero(); MAX_MANIFOLD_POINTS],
-                im2,
-                ii2: sqrt_ii2.squared(),
-                erp: SimdReal::splat(params.erp),
-                max_linear_correction: SimdReal::splat(params.max_linear_correction),
-                num_contacts: num_points as u8,
-            };
-
-            for i in 0..num_points {
-                let point = Point::from(gather![|ii| manifold_points[ii][i].point]);
-                let dist = SimdReal::from(gather![|ii| manifold_points[ii][i].dist]);
-                constraint.p1[i] = point;
-                constraint.local_p2[i] = pos2.inverse_transform_point(&point);
-                constraint.dists[i] = dist;
-            }
-
-            if push {
-                out_constraints.push(AnyPositionConstraint::GroupedGround(constraint));
-            } else {
-                out_constraints[manifolds[0].data.constraint_index + l / MAX_MANIFOLD_POINTS] =
-                    AnyPositionConstraint::GroupedGround(constraint);
-            }
-        }
-    }
-
-    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 pos2 = Isometry::from(gather![|ii| positions[self.rb2[ii]]]);
-        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 = self.n1;
-            let p1 = self.p1[k];
-            let p2 = pos2 * self.local_p2[k];
-            let dpos = p2 - p1;
-            let dist = dpos.dot(&n1);
-
-            // NOTE: this condition does not seem to be useful perfomancewise?
-            if dist.simd_lt(target_dist).any() {
-                let err = ((dist - target_dist) * self.erp)
-                    .simd_clamp(-self.max_linear_correction, SimdReal::zero());
-                let dp2 = p2.coords - pos2.translation.vector;
-
-                let gcross2 = -dp2.gcross(n1);
-                let ii_gcross2 = self.ii2.transform_vector(gcross2);
-
-                // Compute impulse.
-                let inv_r = self.im2 + gcross2.gdot(ii_gcross2);
-                let impulse = err / inv_r;
-
-                // Apply impulse.
-                pos2.translation = Translation::from(n1 * (-impulse * self.im2)) * pos2.translation;
-                pos2.rotation = Rotation::new(ii_gcross2 * impulse) * pos2.rotation;
-            }
-        }
-
-        for ii in 0..SIMD_WIDTH {
-            positions[self.rb2[ii]] = pos2.extract(ii);
-        }
-    }
-}