diff options
Diffstat (limited to 'src/dynamics/solver/joint_constraint/joint_constraint_builder.rs')
| -rw-r--r-- | src/dynamics/solver/joint_constraint/joint_constraint_builder.rs | 1096 |
1 files changed, 14 insertions, 1082 deletions
diff --git a/src/dynamics/solver/joint_constraint/joint_constraint_builder.rs b/src/dynamics/solver/joint_constraint/joint_constraint_builder.rs index 00bead1..6bd61e3 100644 --- a/src/dynamics/solver/joint_constraint/joint_constraint_builder.rs +++ b/src/dynamics/solver/joint_constraint/joint_constraint_builder.rs @@ -1,22 +1,12 @@ use crate::dynamics::solver::joint_constraint::joint_velocity_constraint::{ - JointFixedSolverBody, JointOneBodyConstraint, JointTwoBodyConstraint, WritebackId, + JointFixedSolverBody, JointOneBodyConstraint, JointTwoBodyConstraint, }; use crate::dynamics::solver::joint_constraint::JointSolverBody; use crate::dynamics::solver::solver_body::SolverBody; use crate::dynamics::solver::ConstraintsCounts; -use crate::dynamics::solver::MotorParameters; use crate::dynamics::{GenericJoint, ImpulseJoint, IntegrationParameters, JointIndex}; -use crate::math::{AngVector, Isometry, Matrix, Point, Real, Rotation, Vector, ANG_DIM, DIM}; +use crate::math::*; use crate::prelude::RigidBodySet; -use crate::utils; -use crate::utils::{IndexMut2, SimdCrossMatrix, SimdDot, SimdQuat, SimdRealCopy}; -use na::SMatrix; - -#[cfg(feature = "dim3")] -use crate::utils::SimdBasis; - -#[cfg(feature = "simd-is-enabled")] -use crate::math::{SimdReal, SIMD_WIDTH}; pub struct JointTwoBodyConstraintBuilder { body1: usize, @@ -95,8 +85,8 @@ pub struct JointTwoBodyConstraintBuilderSimd { joint_body1: JointSolverBody<SimdReal, SIMD_WIDTH>, joint_body2: JointSolverBody<SimdReal, SIMD_WIDTH>, joint_id: [JointIndex; SIMD_WIDTH], - local_frame1: Isometry<SimdReal>, - local_frame2: Isometry<SimdReal>, + local_frame1: SimdIsometry, + local_frame2: SimdIsometry, locked_axes: u8, constraint_id: usize, } @@ -119,13 +109,13 @@ impl JointTwoBodyConstraintBuilderSimd { let joint_body1 = JointSolverBody { im: gather![|ii| rb1[ii].mprops.effective_inv_mass].into(), sqrt_ii: gather![|ii| rb1[ii].mprops.effective_world_inv_inertia_sqrt].into(), - world_com: Point::origin(), + world_com: SimdPoint::origin(), solver_vel: body1, }; let joint_body2 = JointSolverBody { im: gather![|ii| rb2[ii].mprops.effective_inv_mass].into(), sqrt_ii: gather![|ii| rb2[ii].mprops.effective_world_inv_inertia_sqrt].into(), - world_com: Point::origin(), + world_com: SimdPoint::origin(), solver_vel: body2, }; @@ -156,8 +146,8 @@ impl JointTwoBodyConstraintBuilderSimd { let rb1 = gather![|ii| &bodies[self.body1[ii]]]; let rb2 = gather![|ii| &bodies[self.body2[ii]]]; - let frame1 = Isometry::from(gather![|ii| rb1[ii].position]) * self.local_frame1; - let frame2 = Isometry::from(gather![|ii| rb2[ii].position]) * self.local_frame2; + let frame1 = SimdIsometry::from(gather![|ii| rb1[ii].position]) * self.local_frame1; + let frame2 = SimdIsometry::from(gather![|ii| rb2[ii].position]) * self.local_frame2; self.joint_body1.world_com = gather![|ii| rb1[ii].world_com].into(); self.joint_body2.world_com = gather![|ii| rb2[ii].world_com].into(); @@ -176,7 +166,7 @@ impl JointTwoBodyConstraintBuilderSimd { pub struct JointOneBodyConstraintBuilder { body1: JointFixedSolverBody<Real>, - frame1: Isometry<Real>, + frame1: Isometry, body2: usize, joint_id: JointIndex, joint: GenericJoint, @@ -259,10 +249,10 @@ impl JointOneBodyConstraintBuilder { #[cfg(feature = "simd-is-enabled")] pub struct JointOneBodyConstraintBuilderSimd { body1: JointFixedSolverBody<SimdReal>, - frame1: Isometry<SimdReal>, + frame1: SimdIsometry, body2: [usize; SIMD_WIDTH], joint_id: [JointIndex; SIMD_WIDTH], - local_frame2: Isometry<SimdReal>, + local_frame2: SimdIsometry, locked_axes: u8, constraint_id: usize, } @@ -288,7 +278,7 @@ impl JointOneBodyConstraintBuilderSimd { } } - let poss1 = Isometry::from(gather![|ii| rb1[ii].pos.position]); + let poss1 = SimdIsometry::from(gather![|ii| rb1[ii].pos.position]); let joint_body1 = JointFixedSolverBody { linvel: gather![|ii| rb1[ii].vels.linvel].into(), @@ -300,7 +290,7 @@ impl JointOneBodyConstraintBuilderSimd { body1: joint_body1, body2: gather![|ii| rb2[ii].ids.active_set_offset], joint_id, - frame1: poss1 * Isometry::from(local_frame1), + frame1: poss1 * SimdIsometry::from(local_frame1), local_frame2: local_frame2.into(), locked_axes: joint[0].data.locked_axes.bits(), constraint_id: *out_constraint_id, @@ -320,7 +310,7 @@ impl JointOneBodyConstraintBuilderSimd { // constraints. Could we make this more incremental? let rb2 = gather![|ii| &bodies[self.body2[ii]]]; - let frame2 = Isometry::from(gather![|ii| rb2[ii].position]) * self.local_frame2; + let frame2 = SimdIsometry::from(gather![|ii| rb2[ii].position]) * self.local_frame2; let joint_body2 = JointSolverBody { im: gather![|ii| rb2[ii].im].into(), @@ -341,1061 +331,3 @@ impl JointOneBodyConstraintBuilderSimd { ); } } - -#[derive(Debug, Copy, Clone)] -pub struct JointTwoBodyConstraintHelper<N: SimdRealCopy> { - pub basis: Matrix<N>, - pub basis2: Matrix<N>, // TODO: used for angular coupling. Can we avoid storing this? - pub cmat1_basis: SMatrix<N, ANG_DIM, DIM>, - pub cmat2_basis: SMatrix<N, ANG_DIM, DIM>, - pub ang_basis: SMatrix<N, ANG_DIM, ANG_DIM>, - pub lin_err: Vector<N>, - pub ang_err: Rotation<N>, -} - -impl<N: SimdRealCopy> JointTwoBodyConstraintHelper<N> { - pub fn new( - frame1: &Isometry<N>, - frame2: &Isometry<N>, - world_com1: &Point<N>, - world_com2: &Point<N>, - locked_lin_axes: u8, - ) -> Self { - let mut frame1 = *frame1; - let basis = frame1.rotation.to_rotation_matrix().into_inner(); - let lin_err = frame2.translation.vector - frame1.translation.vector; - - // Adjust the point of application of the force for the first body, - // by snapping free axes to the second frame’s center (to account for - // the allowed relative movement). - { - let mut new_center1 = frame2.translation.vector; // First, assume all dofs are free. - - // Then snap the locked ones. - for i in 0..DIM { - if locked_lin_axes & (1 << i) != 0 { - let axis = basis.column(i); - new_center1 -= axis * lin_err.dot(&axis); - } - } - frame1.translation.vector = new_center1; - } - - let r1 = frame1.translation.vector - world_com1.coords; - let r2 = frame2.translation.vector - world_com2.coords; - - let cmat1 = r1.gcross_matrix(); - let cmat2 = r2.gcross_matrix(); - - #[allow(unused_mut)] // The mut is needed for 3D - let mut ang_basis = frame1.rotation.diff_conj1_2(&frame2.rotation).transpose(); - #[allow(unused_mut)] // The mut is needed for 3D - let mut ang_err = frame1.rotation.inverse() * frame2.rotation; - - #[cfg(feature = "dim3")] - { - let sgn = N::one().simd_copysign(frame1.rotation.dot(&frame2.rotation)); - ang_basis *= sgn; - *ang_err.as_mut_unchecked() *= sgn; - } - - Self { - basis, - basis2: frame2.rotation.to_rotation_matrix().into_inner(), - cmat1_basis: cmat1 * basis, - cmat2_basis: cmat2 * basis, - ang_basis, - lin_err, - ang_err, - } - } - - pub fn limit_linear<const LANES: usize>( - &self, - params: &IntegrationParameters, - joint_id: [JointIndex; LANES], - body1: &JointSolverBody<N, LANES>, - body2: &JointSolverBody<N, LANES>, - limited_axis: usize, - limits: [N; 2], - writeback_id: WritebackId, - ) -> JointTwoBodyConstraint<N, LANES> { - let zero = N::zero(); - let mut constraint = - self.lock_linear(params, joint_id, body1, body2, limited_axis, writeback_id); - - let dist = self.lin_err.dot(&constraint.lin_jac); - let min_enabled = dist.simd_le(limits[0]); - let max_enabled = limits[1].simd_le(dist); - - let erp_inv_dt = N::splat(params.joint_erp_inv_dt()); - let cfm_coeff = N::splat(params.joint_cfm_coeff()); - let rhs_bias = - ((dist - limits[1]).simd_max(zero) - (limits[0] - dist).simd_max(zero)) * erp_inv_dt; - constraint.rhs = constraint.rhs_wo_bias + rhs_bias; - constraint.cfm_coeff = cfm_coeff; - constraint.impulse_bounds = [ - N::splat(-Real::INFINITY).select(min_enabled, zero), - N::splat(Real::INFINITY).select(max_enabled, zero), - ]; - - constraint - } - - pub fn limit_linear_coupled<const LANES: usize>( - &self, - params: &IntegrationParameters, - joint_id: [JointIndex; LANES], - body1: &JointSolverBody<N, LANES>, - body2: &JointSolverBody<N, LANES>, - coupled_axes: u8, - limits: [N; 2], - writeback_id: WritebackId, - ) -> JointTwoBodyConstraint<N, LANES> { - let zero = N::zero(); - let mut lin_jac = Vector::zeros(); - let mut ang_jac1: AngVector<N> = na::zero(); - let mut ang_jac2: AngVector<N> = na::zero(); - - for i in 0..DIM { - if coupled_axes & (1 << i) != 0 { - let coeff = self.basis.column(i).dot(&self.lin_err); - lin_jac += self.basis.column(i) * coeff; - #[cfg(feature = "dim2")] - { - ang_jac1 += self.cmat1_basis[i] * coeff; - ang_jac2 += self.cmat2_basis[i] * coeff; - } - #[cfg(feature = "dim3")] - { - ang_jac1 += self.cmat1_basis.column(i) * coeff; - ang_jac2 += self.cmat2_basis.column(i) * coeff; - } - } - } - - // FIXME: handle min limit too. - - let dist = lin_jac.norm(); - let inv_dist = crate::utils::simd_inv(dist); - lin_jac *= inv_dist; - ang_jac1 *= inv_dist; - ang_jac2 *= inv_dist; - - let rhs_wo_bias = (dist - limits[1]).simd_min(zero) * N::splat(params.inv_dt()); - - ang_jac1 = body1.sqrt_ii * ang_jac1; - ang_jac2 = body2.sqrt_ii * ang_jac2; - - let erp_inv_dt = N::splat(params.joint_erp_inv_dt()); - let cfm_coeff = N::splat(params.joint_cfm_coeff()); - let rhs_bias = (dist - limits[1]).simd_max(zero) * erp_inv_dt; - let rhs = rhs_wo_bias + rhs_bias; - let impulse_bounds = [N::zero(), N::splat(Real::INFINITY)]; - - JointTwoBodyConstraint { - joint_id, - solver_vel1: body1.solver_vel, - solver_vel2: body2.solver_vel, - im1: body1.im, - im2: body2.im, - impulse: N::zero(), - impulse_bounds, - lin_jac, - ang_jac1, - ang_jac2, - inv_lhs: N::zero(), // Will be set during ortogonalization. - cfm_coeff, - cfm_gain: N::zero(), - rhs, - rhs_wo_bias, - writeback_id, - } - } - - pub fn motor_linear<const LANES: usize>( - &self, - params: &IntegrationParameters, - joint_id: [JointIndex; LANES], - body1: &JointSolverBody<N, LANES>, - body2: &JointSolverBody<N, LANES>, - motor_axis: usize, - motor_params: &MotorParameters<N>, - limits: Option<[N; 2]>, - writeback_id: WritebackId, - ) -> JointTwoBodyConstraint<N, LANES> { - let inv_dt = N::splat(params.inv_dt()); - let mut constraint = - self.lock_linear(params, joint_id, body1, body2, motor_axis, writeback_id); - - let mut rhs_wo_bias = N::zero(); - if motor_params.erp_inv_dt != N::zero() { - let dist = self.lin_err.dot(&constraint.lin_jac); - rhs_wo_bias += (dist - motor_params.target_pos) * motor_params.erp_inv_dt; - } - - let mut target_vel = motor_params.target_vel; - if let Some(limits) = limits { - let dist = self.lin_err.dot(&constraint.lin_jac); - target_vel = - target_vel.simd_clamp((limits[0] - dist) * inv_dt, (limits[1] - dist) * inv_dt); - }; - - rhs_wo_bias += -target_vel; - - constraint.cfm_coeff = motor_params.cfm_coeff; - constraint.cfm_gain = motor_params.cfm_gain; - constraint.impulse_bounds = [-motor_params.max_impulse, motor_params.max_impulse]; - constraint.rhs = rhs_wo_bias; - constraint.rhs_wo_bias = rhs_wo_bias; - constraint - } - - pub fn lock_linear<const LANES: usize>( - &self, - params: &IntegrationParameters, - joint_id: [JointIndex; LANES], - body1: &JointSolverBody<N, LANES>, - body2: &JointSolverBody<N, LANES>, - locked_axis: usize, - writeback_id: WritebackId, - ) -> JointTwoBodyConstraint<N, LANES> { - let lin_jac = self.basis.column(locked_axis).into_owned(); - #[cfg(feature = "dim2")] - let mut ang_jac1 = self.cmat1_basis[locked_axis]; - #[cfg(feature = "dim2")] - let mut ang_jac2 = self.cmat2_basis[locked_axis]; - #[cfg(feature = "dim3")] - let mut ang_jac1 = self.cmat1_basis.column(locked_axis).into_owned(); - #[cfg(feature = "dim3")] - let mut ang_jac2 = self.cmat2_basis.column(locked_axis).into_owned(); - - let rhs_wo_bias = N::zero(); - let erp_inv_dt = N::splat(params.joint_erp_inv_dt()); - let cfm_coeff = N::splat(params.joint_cfm_coeff()); - let rhs_bias = lin_jac.dot(&self.lin_err) * erp_inv_dt; - - ang_jac1 = body1.sqrt_ii * ang_jac1; - ang_jac2 = body2.sqrt_ii * ang_jac2; - - JointTwoBodyConstraint { - joint_id, - solver_vel1: body1.solver_vel, - solver_vel2: body2.solver_vel, - im1: body1.im, - im2: body2.im, - impulse: N::zero(), - impulse_bounds: [-N::splat(Real::MAX), N::splat(Real::MAX)], - lin_jac, - ang_jac1, - ang_jac2, - inv_lhs: N::zero(), // Will be set during ortogonalization. - cfm_coeff, - cfm_gain: N::zero(), - rhs: rhs_wo_bias + rhs_bias, - rhs_wo_bias, - writeback_id, - } - } - - pub fn limit_angular<const LANES: usize>( - &self, - params: &IntegrationParameters, - joint_id: [JointIndex; LANES], - body1: &JointSolverBody<N, LANES>, - body2: &JointSolverBody<N, LANES>, - _limited_axis: usize, - limits: [N; 2], - writeback_id: WritebackId, - ) -> JointTwoBodyConstraint<N, LANES> { - let zero = N::zero(); - let half = N::splat(0.5); - let s_limits = [(limits[0] * half).simd_sin(), (limits[1] * half).simd_sin()]; - #[cfg(feature = "dim2")] - let s_ang = (self.ang_err.angle() * half).simd_sin(); - #[cfg(feature = "dim3")] - let s_ang = self.ang_err.imag()[_limited_axis]; - let min_enabled = s_ang.simd_le(s_limits[0]); - let max_enabled = s_limits[1].simd_le(s_ang); - - let impulse_bounds = [ - N::splat(-Real::INFINITY).select(min_enabled, zero), - N::splat(Real::INFINITY).select(max_enabled, zero), - ]; - - #[cfg(feature = "dim2")] - let ang_jac = N::one(); - #[cfg(feature = "dim3")] - let ang_jac = self.ang_basis.column(_limited_axis).into_owned(); - let rhs_wo_bias = N::zero(); - let erp_inv_dt = N::splat(params.joint_erp_inv_dt()); - let cfm_coeff = N::splat(params.joint_cfm_coeff()); - let rhs_bias = ((s_ang - s_limits[1]).simd_max(zero) - - (s_limits[0] - s_ang).simd_max(zero)) - * erp_inv_dt; - - let ang_jac1 = body1.sqrt_ii * ang_jac; - let ang_jac2 = body2.sqrt_ii * ang_jac; - - JointTwoBodyConstraint { - joint_id, - solver_vel1: body1.solver_vel, - solver_vel2: body2.solver_vel, - im1: body1.im, - im2: body2.im, - impulse: N::zero(), - impulse_bounds, - lin_jac: na::zero(), - ang_jac1, - ang_jac2, - inv_lhs: N::zero(), // Will be set during ortogonalization. - cfm_coeff, - cfm_gain: N::zero(), - rhs: rhs_wo_bias + rhs_bias, - rhs_wo_bias, - writeback_id, - } - } - - pub fn motor_angular<const LANES: usize>( - &self, - joint_id: [JointIndex; LANES], - body1: &JointSolverBody<N, LANES>, - body2: &JointSolverBody<N, LANES>, - _motor_axis: usize, - motor_params: &MotorParameters<N>, - writeback_id: WritebackId, - ) -> JointTwoBodyConstraint<N, LANES> { - #[cfg(feature = "dim2")] - let ang_jac = N::one(); - #[cfg(feature = "dim3")] - let ang_jac = self.basis.column(_motor_axis).into_owned(); - - let mut rhs_wo_bias = N::zero(); - if motor_params.erp_inv_dt != N::zero() { - #[cfg(feature = "dim2")] - let ang_dist = self.ang_err.angle(); - #[cfg(feature = "dim3")] - let ang_dist = self.ang_err.imag()[_motor_axis].simd_asin() * N::splat(2.0); - let target_ang = motor_params.target_pos; - rhs_wo_bias += utils::smallest_abs_diff_between_angles(ang_dist, target_ang) - * motor_params.erp_inv_dt; - } - - rhs_wo_bias += -motor_params.target_vel; - - let ang_jac1 = body1.sqrt_ii * ang_jac; - let ang_jac2 = body2.sqrt_ii * ang_jac; - - JointTwoBodyConstraint { - joint_id, - solver_vel1: body1.solver_vel, - solver_vel2: body2.solver_vel, - im1: body1.im, - im2: body2.im, - impulse: N::zero(), - impulse_bounds: [-motor_params.max_impulse, motor_params.max_impulse], - lin_jac: na::zero(), - ang_jac1, - ang_jac2, - inv_lhs: N::zero(), // Will be set during ortogonalization. - cfm_coeff: motor_params.cfm_coeff, - cfm_gain: motor_params.cfm_gain, - rhs: rhs_wo_bias, - rhs_wo_bias, - writeback_id, - } - } - - pub fn lock_angular<const LANES: usize>( - &self, - params: &IntegrationParameters, - joint_id: [JointIndex; LANES], - body1: &JointSolverBody<N, LANES>, - body2: &JointSolverBody<N, LANES>, - _locked_axis: usize, - writeback_id: WritebackId, - ) -> JointTwoBodyConstraint<N, LANES> { - #[cfg(feature = "dim2")] - let ang_jac = N::one(); - #[cfg(feature = "dim3")] - let ang_jac = self.ang_basis.column(_locked_axis).into_owned(); - - let rhs_wo_bias = N::zero(); - let erp_inv_dt = N::splat(params.joint_erp_inv_dt()); - let cfm_coeff = N::splat(params.joint_cfm_coeff()); - #[cfg(feature = "dim2")] - let rhs_bias = self.ang_err.im * erp_inv_dt; - #[cfg(feature = "dim3")] - let rhs_bias = self.ang_err.imag()[_locked_axis] * erp_inv_dt; - - let ang_jac1 = body1.sqrt_ii * ang_jac; - let ang_jac2 = body2.sqrt_ii * ang_jac; - - JointTwoBodyConstraint { - joint_id, - solver_vel1: body1.solver_vel, - solver_vel2: body2.solver_vel, - im1: body1.im, - im2: body2.im, - impulse: N::zero(), - impulse_bounds: [-N::splat(Real::MAX), N::splat(Real::MAX)], - lin_jac: na::zero(), - ang_jac1, - ang_jac2, - inv_lhs: N::zero(), // Will be set during ortogonalization. - cfm_coeff, - cfm_gain: N::zero(), - rhs: rhs_wo_bias + rhs_bias, - rhs_wo_bias, - writeback_id, - } - } - - /// Orthogonalize the constraints and set their inv_lhs field. - pub fn finalize_constraints<const LANES: usize>( - constraints: &mut [JointTwoBodyConstraint<N, LANES>], - ) { - let len = constraints.len(); - - if len == 0 { - return; - } - - let imsum = constraints[0].im1 + constraints[0].im2; - - // Use the modified Gram-Schmidt orthogonalization. - for j in 0..len { - let c_j = &mut constraints[j]; - let dot_jj = c_j.lin_jac.dot(&imsum.component_mul(&c_j.lin_jac)) - + c_j.ang_jac1.gdot(c_j.ang_jac1) - + c_j.ang_jac2.gdot(c_j.ang_jac2); - let cfm_gain = dot_jj * c_j.cfm_coeff + c_j.cfm_gain; - let inv_dot_jj = crate::utils::simd_inv(dot_jj); - c_j.inv_lhs = crate::utils::simd_inv(dot_jj + cfm_gain); // Don’t forget to update the inv_lhs. - c_j.cfm_gain = cfm_gain; - - if c_j.impulse_bounds != [-N::splat(Real::MAX), N::splat(Real::MAX)] { - // Don't remove constraints with limited forces from the others - // because they may not deliver the necessary forces to fulfill - // the removed parts of other constraints. - continue; - } - - for i in (j + 1)..len { - let (c_i, c_j) = constraints.index_mut_const(i, j); - - let dot_ij = c_i.lin_jac.dot(&imsum.component_mul(&c_j.lin_jac)) - + c_i.ang_jac1.gdot(c_j.ang_jac1) - + c_i.ang_jac2.gdot(c_j.ang_jac2); - let coeff = dot_ij * inv_dot_jj; - - c_i.lin_jac -= c_j.lin_jac * coeff; - c_i.ang_jac1 -= c_j.ang_jac1 * coeff; - c_i.ang_jac2 -= c_j.ang_jac2 * coeff; - c_i.rhs_wo_bias -= c_j.rhs_wo_bias * coeff; - c_i.rhs -= c_j.rhs * coeff; - } - } - } - - pub fn limit_linear_one_body<const LANES: usize>( - &self, - params: &IntegrationParameters, - joint_id: [JointIndex; LANES], - body1: &JointFixedSolverBody<N>, - body2: &JointSolverBody<N, LANES>, - limited_axis: usize, - limits: [N; 2], - writeback_id: WritebackId, - ) -> JointOneBodyConstraint<N, LANES> { - let zero = N::zero(); - let lin_jac = self.basis.column(limited_axis).into_owned(); - let dist = self.lin_err.dot(&lin_jac); - - let min_enabled = dist.simd_le(limits[0]); - let max_enabled = limits[1].simd_le(dist); - - let impulse_bounds = [ - N::splat(-Real::INFINITY).select(min_enabled, zero), - N::splat(Real::INFINITY).select(max_enabled, zero), - ]; - - let ang_jac1 = self.cmat1_basis.column(limited_axis).into_owned(); - #[cfg(feature = "dim2")] - let mut ang_jac2 = self.cmat2_basis[limited_axis]; - #[cfg(feature = "dim3")] - let mut ang_jac2 = self.cmat2_basis.column(limited_axis).into_owned(); - - let rhs_wo_bias = -lin_jac.dot(&body1.linvel) - ang_jac1.gdot(body1.angvel); - let erp_inv_dt = N::splat(params.joint_erp_inv_dt()); - let cfm_coeff = N::splat(params.joint_cfm_coeff()); - let rhs_bias = - ((dist - limits[1]).simd_max(zero) - (limits[0] - dist).simd_max(zero)) * erp_inv_dt; - - ang_jac2 = body2.sqrt_ii * ang_jac2; - - JointOneBodyConstraint { - joint_id, - solver_vel2: body2.solver_vel, - im2: body2.im, - impulse: zero, - impulse_bounds, - lin_jac, - ang_jac2, - inv_lhs: zero, // Will be set during ortogonalization. - cfm_coeff, - cfm_gain: N::zero(), - rhs: rhs_wo_bias + rhs_bias, - rhs_wo_bias, - writeback_id, - } - } - - pub fn limit_linear_coupled_one_body<const LANES: usize>( - &self, - params: &IntegrationParameters, - joint_id: [JointIndex; LANES], - body1: &JointFixedSolverBody<N>, - body2: &JointSolverBody<N, LANES>, - coupled_axes: u8, - limits: [N; 2], - writeback_id: WritebackId, - ) -> JointOneBodyConstraint<N, LANES> { - let zero = N::zero(); - let mut lin_jac = Vector::zeros(); - let mut ang_jac1: AngVector<N> = na::zero(); - let mut ang_jac2: AngVector<N> = na::zero(); - - for i in 0..DIM { - if coupled_axes & (1 << i) != 0 { - let coeff = self.basis.column(i).dot(&self.lin_err); - lin_jac += self.basis.column(i) * coeff; - #[cfg(feature = "dim2")] - { - ang_jac1 += self.cmat1_basis[i] * coeff; - ang_jac2 += self.cmat2_basis[i] * coeff; - } - #[cfg(feature = "dim3")] - { - ang_jac1 += self.cmat1_basis.column(i) * coeff; - ang_jac2 += self.cmat2_basis.column(i) * coeff; - } - } - } - - let dist = lin_jac.norm(); - let inv_dist = crate::utils::simd_inv(dist); - lin_jac *= inv_dist; - ang_jac1 *= inv_dist; - ang_jac2 *= inv_dist; - - // FIXME: handle min limit too. - let proj_vel1 = -lin_jac.dot(&body1.linvel) - ang_jac1.gdot(body1.angvel); - let rhs_wo_bias = proj_vel1 + (dist - limits[1]).simd_min(zero) * N::splat(params.inv_dt()); - - ang_jac2 = body2.sqrt_ii * ang_jac2; - - let erp_inv_dt = N::splat(params.joint_erp_inv_dt()); - let cfm_coeff = N::splat(params.joint_cfm_coeff()); - let rhs_bias = (dist - limits[1]).simd_max(zero) * erp_inv_dt; - let rhs = rhs_wo_bias + rhs_bias; - let impulse_bounds = [N::zero(), N::splat(Real::INFINITY)]; - - JointOneBodyConstraint { - joint_id, - solver_vel2: body2.solver_vel, - im2: body2.im, - impulse: N::zero(), - impulse_bounds, - lin_jac, - ang_jac2, - inv_lhs: N::zero(), // Will be set during ortogonalization. - cfm_coeff, - cfm_gain: N::zero(), - rhs, - rhs_wo_bias, - writeback_id, - } - } - - pub fn motor_linear_one_body<const LANES: usize>( - &self, - params: &IntegrationParameters, - joint_id: [JointIndex; LANES], - body1: &JointFixedSolverBody<N>, - body2: &JointSolverBody<N, LANES>, - motor_axis: usize, - motor_params: &MotorParameters<N>, - limits: Option<[N; 2]>, - writeback_id: WritebackId, - ) -> JointOneBodyConstraint<N, LANES> { - let inv_dt = N::splat(params.inv_dt()); - - let lin_jac = self.basis.column(motor_axis).into_owned(); - let ang_jac1 = self.cmat1_basis.column(motor_axis).into_owned(); - #[cfg(feature = "dim2")] - let mut ang_jac2 = self.cmat2_basis[motor_axis]; - #[cfg(feature = "dim3")] - let mut ang_jac2 = self.cmat2_basis.column(motor_axis).into_owned(); - - let mut rhs_wo_bias = N::zero(); - if motor_params.erp_inv_dt != N::zero() { - let dist = self.lin_err.dot(&lin_jac); - rhs_wo_bias += (dist - motor_params.target_pos) * motor_params.erp_inv_dt; - } - - let mut target_vel = motor_params.target_vel; - if let Some(limits) = limits { - let dist = self.lin_err.dot(&lin_jac); - target_vel = - target_vel.simd_clamp((limits[0] - dist) * inv_dt, (limits[1] - dist) * inv_dt); - }; - - let proj_vel1 = -lin_jac.dot(&body1.linvel) - ang_jac1.gdot(body1.angvel); - rhs_wo_bias += proj_vel1 - target_vel; - - ang_jac2 = body2.sqrt_ii * ang_jac2; - - JointOneBodyConstraint { - joint_id, - solver_vel2: body2.solver_vel, - im2: body2.im, - impulse: N::zero(), - impulse_bounds: [-motor_params.max_impulse, motor_params.max_impulse], - lin_jac, - ang_jac2, - inv_lhs: N::zero(), // Will be set during ortogonalization. - cfm_coeff: motor_params.cfm_coeff, - cfm_gain: motor_params.cfm_gain, - rhs: rhs_wo_bias, - rhs_wo_bias, - writeback_id, - } - } - - pub fn motor_linear_coupled_one_body<const LANES: usize>( - &self, - params: &IntegrationParameters, - joint_id: [JointIndex; LANES], - body1: &JointFixedSolverBody<N>, - body2: &JointSolverBody<N, LANES>, - coupled_axes: u8, - motor_params: &MotorParameters<N>, - limits: Option<[N; 2]>, - writeback_id: WritebackId, - ) -> JointOneBodyConstraint<N, LANES> { - let inv_dt = N::splat(params.inv_dt()); - - let mut lin_jac = Vector::zeros(); - let mut ang_jac1: AngVector<N> = na::zero(); - let mut ang_jac2: AngVector<N> = na::zero(); - - for i in 0..DIM { - if coupled_axes & (1 << i) != 0 { - let coeff = self.basis.column(i).dot(&self.lin_err); - lin_jac += self.basis.column(i) * coeff; - #[cfg(feature = "dim2")] - { - ang_jac1 += self.cmat1_basis[i] * coeff; - ang_jac2 += self.cmat2_basis[i] * coeff; - } - #[cfg(feature = "dim3")] - { - ang_jac1 += self.cmat1_basis.column(i) * coeff; - ang_jac2 += self.cmat2_basis.column(i) * coeff; - } - } - } - - let dist = lin_jac.norm(); - let inv_dist = crate::utils::simd_inv(dist); - lin_jac *= inv_dist; - ang_jac1 *= inv_dist; - ang_jac2 *= inv_dist; - - let mut rhs_wo_bias = N::zero(); - if motor_params.erp_inv_dt != N::zero() { - rhs_wo_bias += (dist - motor_params.target_pos) * motor_params.erp_inv_dt; - } - - let mut target_vel = motor_params.target_vel; - if let Some(limits) = limits { - target_vel = - target_vel.simd_clamp((limits[0] - dist) * inv_dt, (limits[1] - dist) * inv_dt); - }; - - let proj_vel1 = -lin_jac.dot(&body1.linvel) - ang_jac1.gdot(body1.angvel); - rhs_wo_bias += proj_vel1 - target_vel; - - ang_jac2 = body2.sqrt_ii * ang_jac2; - - JointOneBodyConstraint { - joint_id, - solver_vel2: body2.solver_vel, - im2: body2.im, - impulse: N::zero(), - impulse_bounds: [-motor_params.max_impulse, motor_params.max_impulse], - lin_jac, - ang_jac2, - inv_lhs: N::zero(), // Will be set during ortogonalization. - cfm_coeff: motor_params.cfm_coeff, - cfm_gain: motor_params.cfm_gain, - rhs: rhs_wo_bias, - rhs_wo_bias, - writeback_id, - } - } - - pub fn lock_linear_one_body<const LANES: usize>( - &self, - params: &IntegrationParameters, - joint_id: [JointIndex; LANES], - body1: &JointFixedSolverBody<N>, - body2: &JointSolverBody<N, LANES>, - locked_axis: usize, - writeback_id: WritebackId, - ) -> JointOneBodyConstraint<N, LANES> { - let lin_jac = self.basis.column(locked_axis).into_owned(); - let ang_jac1 = self.cmat1_basis.column(locked_axis).into_owned(); - #[cfg(feature = "dim2")] - let mut ang_jac2 = self.cmat2_basis[locked_axis]; - #[cfg(feature = "dim3")] - let mut ang_jac2 = self.cmat2_basis.column(locked_axis).into_owned(); - - let rhs_wo_bias = -lin_jac.dot(&body1.linvel) - ang_jac1.gdot(body1.angvel); - - let erp_inv_dt = N::splat(params.joint_erp_inv_dt()); - let cfm_coeff = N::splat(params.joint_cfm_coeff()); - let rhs_bias = lin_jac.dot(&self.lin_err) * erp_inv_dt; - - ang_jac2 = body2.sqrt_ii * ang_jac2; - - JointOneBodyConstraint { - joint_id, - solver_vel2: body2.solver_vel, - im2: body2.im, - impulse: N::zero(), - impulse_bounds: [-N::splat(Real::MAX), N::splat(Real::MAX)], - lin_jac, - ang_jac2, - inv_lhs: N::zero(), // Will be set during ortogonalization. - cfm_coeff, - cfm_gain: N::zero(), - rhs: rhs_wo_bias + rhs_bias, - rhs_wo_bias, - writeback_id, - } - } - - pub fn motor_angular_one_body<const LANES: usize>( - &self, - joint_id: [JointIndex; LANES], - body1: &JointFixedSolverBody<N>, - body2: &JointSolverBody<N, LANES>, - _motor_axis: usize, - motor_params: &MotorParameters<N>, - writeback_id: WritebackId, - ) -> JointOneBodyConstraint<N, LANES> { - #[cfg(feature = "dim2")] - let ang_jac = N::one(); - #[cfg(feature = "dim3")] - let ang_jac = self.basis.column(_motor_axis).into_owned(); - - let mut rhs_wo_bias = N::zero(); - if motor_params.erp_inv_dt != N::zero() { - #[cfg(feature = "dim2")] - let ang_dist = self.ang_err.angle(); - #[cfg(feature = "dim3")] - let ang_dist = self.ang_err.imag()[_motor_axis].simd_asin() * N::splat(2.0); - let target_ang = motor_params.target_pos; - rhs_wo_bias += utils::smallest_abs_diff_between_angles(ang_dist, target_ang) - * motor_params.erp_inv_dt; - } - - let proj_vel1 = -ang_jac.gdot(body1.angvel); - rhs_wo_bias += proj_vel1 - motor_params.target_vel; - - let ang_jac2 = body2.sqrt_ii * ang_jac; - - JointOneBodyConstraint { - joint_id, - solver_vel2: body2.solver_vel, - im2: body2.im, - impulse: N::zero(), - impulse_bounds: [-motor_params.max_impulse, motor_params.max_impulse], - lin_jac: na::zero(), - ang_jac2, - inv_lhs: N::zero(), // Will be set during ortogonalization. - cfm_coeff: motor_params.cfm_coeff, - cfm_gain: motor_params.cfm_gain, - rhs: rhs_wo_bias, - rhs_wo_bias, - writeback_id, - } - } - - pub fn limit_angular_one_body<const LANES: usize>( - &self, - params: &IntegrationParameters, - joint_id: [JointIndex; LANES], - body1: &JointFixedSolverBody<N>, - body2: &JointSolverBody<N, LANES>, - _limited_axis: usize, - limits: [N; 2], - writeback_id: WritebackId, - ) -> JointOneBodyConstraint<N, LANES> { - let zero = N::zero(); - let half = N::splat(0.5); - let s_limits = [(limits[0] * half).simd_sin(), (limits[1] * half).simd_sin()]; - #[cfg(feature = "dim2")] - let s_ang = (self.ang_err.angle() * half).simd_sin(); - #[cfg(feature = "dim3")] - let s_ang = self.ang_err.imag()[_limited_axis]; - let min_enabled = s_ang.simd_le(s_limits[0]); - let max_enabled = s_limits[1].simd_le(s_ang); - - let impulse_bounds = [ - N::splat(-Real::INFINITY).select(min_enabled, zero), - N::splat(Real::INFINITY).select(max_enabled, zero), - ]; - - #[cfg(feature = "dim2")] - let ang_jac = N::one(); - #[cfg(feature = "dim3")] - let ang_jac = self.ang_basis.column(_limited_axis).into_owned(); - let rhs_wo_bias = -ang_jac.gdot(body1.angvel); - - let erp_inv_dt = N::splat(params.joint_erp_inv_dt()); - let cfm_coeff = N::splat(params.joint_cfm_coeff()); - let rhs_bias = ((s_ang - s_limits[1]).simd_max(zero) - - (s_limits[0] - s_ang).simd_max(zero)) - * erp_inv_dt; - - let ang_jac2 = body2.sqrt_ii * ang_jac; - - JointOneBodyConstraint { - joint_id, - solver_vel2: body2.solver_vel, - im2: body2.im, - impulse: zero, - impulse_bounds, - lin_jac: na::zero(), - ang_jac2, - inv_lhs: zero, // Will be set during ortogonalization. - cfm_coeff, - cfm_gain: N::zero(), - rhs: rhs_wo_bias + rhs_bias, - rhs_wo_bias, - writeback_id, - } - } - - pub fn lock_angular_one_body<const LANES: usize>( - |