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Diffstat (limited to 'src/dynamics/solver/joint_constraint/revolute_velocity_constraint_wide.rs')
| -rw-r--r-- | src/dynamics/solver/joint_constraint/revolute_velocity_constraint_wide.rs | 397 |
1 files changed, 397 insertions, 0 deletions
diff --git a/src/dynamics/solver/joint_constraint/revolute_velocity_constraint_wide.rs b/src/dynamics/solver/joint_constraint/revolute_velocity_constraint_wide.rs new file mode 100644 index 0000000..5eeac18 --- /dev/null +++ b/src/dynamics/solver/joint_constraint/revolute_velocity_constraint_wide.rs @@ -0,0 +1,397 @@ +use simba::simd::SimdValue; + +use crate::dynamics::solver::DeltaVel; +use crate::dynamics::{ + IntegrationParameters, JointGraphEdge, JointIndex, JointParams, RevoluteJoint, RigidBody, +}; +use crate::math::{AngVector, AngularInertia, Isometry, Point, SimdFloat, Vector, SIMD_WIDTH}; +use crate::utils::{WAngularInertia, WCross, WCrossMatrix}; +use na::{Cholesky, Matrix3x2, Matrix5, Vector5, U2, U3}; + +#[derive(Debug)] +pub(crate) struct WRevoluteVelocityConstraint { + mj_lambda1: [usize; SIMD_WIDTH], + mj_lambda2: [usize; SIMD_WIDTH], + + joint_id: [JointIndex; SIMD_WIDTH], + + r1: Vector<SimdFloat>, + r2: Vector<SimdFloat>, + + inv_lhs: Matrix5<SimdFloat>, + rhs: Vector5<SimdFloat>, + impulse: Vector5<SimdFloat>, + + basis1: Matrix3x2<SimdFloat>, + + im1: SimdFloat, + im2: SimdFloat, + + ii1_sqrt: AngularInertia<SimdFloat>, + ii2_sqrt: AngularInertia<SimdFloat>, +} + +impl WRevoluteVelocityConstraint { + pub fn from_params( + params: &IntegrationParameters, + joint_id: [JointIndex; SIMD_WIDTH], + rbs1: [&RigidBody; SIMD_WIDTH], + rbs2: [&RigidBody; SIMD_WIDTH], + cparams: [&RevoluteJoint; SIMD_WIDTH], + ) -> Self { + let position1 = Isometry::from(array![|ii| rbs1[ii].position; SIMD_WIDTH]); + let linvel1 = Vector::from(array![|ii| rbs1[ii].linvel; SIMD_WIDTH]); + let angvel1 = AngVector::<SimdFloat>::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]); + let world_com1 = Point::from(array![|ii| rbs1[ii].world_com; SIMD_WIDTH]); + let im1 = SimdFloat::from(array![|ii| rbs1[ii].mass_properties.inv_mass; SIMD_WIDTH]); + let ii1_sqrt = AngularInertia::<SimdFloat>::from( + array![|ii| rbs1[ii].world_inv_inertia_sqrt; SIMD_WIDTH], + ); + let mj_lambda1 = array![|ii| rbs1[ii].active_set_offset; SIMD_WIDTH]; + + let position2 = Isometry::from(array![|ii| rbs2[ii].position; SIMD_WIDTH]); + let linvel2 = Vector::from(array![|ii| rbs2[ii].linvel; SIMD_WIDTH]); + let angvel2 = AngVector::<SimdFloat>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]); + let world_com2 = Point::from(array![|ii| rbs2[ii].world_com; SIMD_WIDTH]); + let im2 = SimdFloat::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]); + let ii2_sqrt = AngularInertia::<SimdFloat>::from( + array![|ii| rbs2[ii].world_inv_inertia_sqrt; SIMD_WIDTH], + ); + let mj_lambda2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH]; + + let local_anchor1 = Point::from(array![|ii| cparams[ii].local_anchor1; SIMD_WIDTH]); + let local_anchor2 = Point::from(array![|ii| cparams[ii].local_anchor2; SIMD_WIDTH]); + let local_basis1 = [ + Vector::from(array![|ii| cparams[ii].basis1[0]; SIMD_WIDTH]), + Vector::from(array![|ii| cparams[ii].basis1[1]; SIMD_WIDTH]), + ]; + let impulse = Vector5::from(array![|ii| cparams[ii].impulse; SIMD_WIDTH]); + + let anchor1 = position1 * local_anchor1; + let anchor2 = position2 * local_anchor2; + let basis1 = + Matrix3x2::from_columns(&[position1 * local_basis1[0], position1 * local_basis1[1]]); + + // let r21 = Rotation::rotation_between_axis(&axis1, &axis2) + // .unwrap_or(Rotation::identity()) + // .to_rotation_matrix() + // .into_inner(); + // let basis2 = r21 * basis1; + // NOTE: to simplify, we use basis2 = basis1. + // Though we may want to test if that does not introduce any instability. + let ii1 = ii1_sqrt.squared(); + let r1 = anchor1 - world_com1; + let r1_mat = r1.gcross_matrix(); + + let ii2 = ii2_sqrt.squared(); + let r2 = anchor2 - world_com2; + let r2_mat = r2.gcross_matrix(); + + let mut lhs = Matrix5::zeros(); + let lhs00 = + ii2.quadform(&r2_mat).add_diagonal(im2) + ii1.quadform(&r1_mat).add_diagonal(im1); + let lhs10 = basis1.tr_mul(&(ii2 * r2_mat + ii1 * r1_mat)); + let lhs11 = (ii1 + ii2).quadform3x2(&basis1).into_matrix(); + + // Note that cholesky won't read the upper-right part + // of lhs so we don't have to fill it. + lhs.fixed_slice_mut::<U3, U3>(0, 0) + .copy_from(&lhs00.into_matrix()); + lhs.fixed_slice_mut::<U2, U3>(3, 0).copy_from(&lhs10); + lhs.fixed_slice_mut::<U2, U2>(3, 3).copy_from(&lhs11); + + let inv_lhs = Cholesky::new_unchecked(lhs).inverse(); + + let lin_rhs = linvel2 + angvel2.gcross(r2) - linvel1 - angvel1.gcross(r1); + let ang_rhs = basis1.tr_mul(&(angvel2 - angvel1)); + let rhs = Vector5::new(lin_rhs.x, lin_rhs.y, lin_rhs.z, ang_rhs.x, ang_rhs.y); + + WRevoluteVelocityConstraint { + joint_id, + mj_lambda1, + mj_lambda2, + im1, + ii1_sqrt, + basis1, + im2, + ii2_sqrt, + impulse: impulse * SimdFloat::splat(params.warmstart_coeff), + inv_lhs, + rhs, + r1, + r2, + } + } + + pub fn warmstart(&self, mj_lambdas: &mut [DeltaVel<f32>]) { + let mut mj_lambda1 = DeltaVel { + linear: Vector::from( + array![|ii| mj_lambdas[self.mj_lambda1[ii] as usize].linear; SIMD_WIDTH], + ), + angular: AngVector::from( + array![|ii| mj_lambdas[self.mj_lambda1[ii] as usize].angular; SIMD_WIDTH], + ), + }; + let mut mj_lambda2 = DeltaVel { + linear: Vector::from( + array![|ii| mj_lambdas[self.mj_lambda2[ii] as usize].linear; SIMD_WIDTH], + ), + angular: AngVector::from( + array![|ii| mj_lambdas[self.mj_lambda2[ii] as usize].angular; SIMD_WIDTH], + ), + }; + + let lin_impulse = self.impulse.fixed_rows::<U3>(0).into_owned(); + let ang_impulse = self.basis1 * self.impulse.fixed_rows::<U2>(3).into_owned(); + + mj_lambda1.linear += lin_impulse * self.im1; + mj_lambda1.angular += self + .ii1_sqrt + .transform_vector(ang_impulse + self.r1.gcross(lin_impulse)); + + mj_lambda2.linear -= lin_impulse * self.im2; + mj_lambda2.angular -= self + .ii2_sqrt + .transform_vector(ang_impulse + self.r2.gcross(lin_impulse)); + + for ii in 0..SIMD_WIDTH { + mj_lambdas[self.mj_lambda1[ii] as usize].linear = mj_lambda1.linear.extract(ii); + mj_lambdas[self.mj_lambda1[ii] as usize].angular = mj_lambda1.angular.extract(ii); + } + for ii in 0..SIMD_WIDTH { + mj_lambdas[self.mj_lambda2[ii] as usize].linear = mj_lambda2.linear.extract(ii); + mj_lambdas[self.mj_lambda2[ii] as usize].angular = mj_lambda2.angular.extract(ii); + } + } + + pub fn solve(&mut self, mj_lambdas: &mut [DeltaVel<f32>]) { + let mut mj_lambda1 = DeltaVel { + linear: Vector::from( + array![|ii| mj_lambdas[self.mj_lambda1[ii] as usize].linear; SIMD_WIDTH], + ), + angular: AngVector::from( + array![|ii| mj_lambdas[self.mj_lambda1[ii] as usize].angular; SIMD_WIDTH], + ), + }; + let mut mj_lambda2 = DeltaVel { + linear: Vector::from( + array![|ii| mj_lambdas[self.mj_lambda2[ii] as usize].linear; SIMD_WIDTH], + ), + angular: AngVector::from( + array![|ii| mj_lambdas[self.mj_lambda2[ii] as usize].angular; SIMD_WIDTH], + ), + }; + + let ang_vel1 = self.ii1_sqrt.transform_vector(mj_lambda1.angular); + let ang_vel2 = self.ii2_sqrt.transform_vector(mj_lambda2.angular); + let lin_dvel = mj_lambda2.linear + ang_vel2.gcross(self.r2) + - mj_lambda1.linear + - ang_vel1.gcross(self.r1); + let ang_dvel = self.basis1.tr_mul(&(ang_vel2 - ang_vel1)); + let rhs = + Vector5::new(lin_dvel.x, lin_dvel.y, lin_dvel.z, ang_dvel.x, ang_dvel.y) + self.rhs; + let impulse = self.inv_lhs * rhs; + self.impulse += impulse; + let lin_impulse = impulse.fixed_rows::<U3>(0).into_owned(); + let ang_impulse = self.basis1 * impulse.fixed_rows::<U2>(3).into_owned(); + + mj_lambda1.linear += lin_impulse * self.im1; + mj_lambda1.angular += self + .ii1_sqrt + .transform_vector(ang_impulse + self.r1.gcross(lin_impulse)); + + mj_lambda2.linear -= lin_impulse * self.im2; + mj_lambda2.angular -= self + .ii2_sqrt + .transform_vector(ang_impulse + self.r2.gcross(lin_impulse)); + + for ii in 0..SIMD_WIDTH { + mj_lambdas[self.mj_lambda1[ii] as usize].linear = mj_lambda1.linear.extract(ii); + mj_lambdas[self.mj_lambda1[ii] as usize].angular = mj_lambda1.angular.extract(ii); + } + for ii in 0..SIMD_WIDTH { + mj_lambdas[self.mj_lambda2[ii] as usize].linear = mj_lambda2.linear.extract(ii); + mj_lambdas[self.mj_lambda2[ii] as usize].angular = mj_lambda2.angular.extract(ii); + } + } + + pub fn writeback_impulses(&self, joints_all: &mut [JointGraphEdge]) { + for ii in 0..SIMD_WIDTH { + let joint = &mut joints_all[self.joint_id[ii]].weight; + if let JointParams::RevoluteJoint(rev) = &mut joint.params { + rev.impulse = self.impulse.extract(ii) + } + } + } +} + +#[derive(Debug)] +pub(crate) struct WRevoluteVelocityGroundConstraint { + mj_lambda2: [usize; SIMD_WIDTH], + + joint_id: [JointIndex; SIMD_WIDTH], + + r2: Vector<SimdFloat>, + + inv_lhs: Matrix5<SimdFloat>, + rhs: Vector5<SimdFloat>, + impulse: Vector5<SimdFloat>, + + basis1: Matrix3x2<SimdFloat>, + + im2: SimdFloat, + + ii2_sqrt: AngularInertia<SimdFloat>, +} + +impl WRevoluteVelocityGroundConstraint { + pub fn from_params( + params: &IntegrationParameters, + joint_id: [JointIndex; SIMD_WIDTH], + rbs1: [&RigidBody; SIMD_WIDTH], + rbs2: [&RigidBody; SIMD_WIDTH], + cparams: [&RevoluteJoint; SIMD_WIDTH], + flipped: [bool; SIMD_WIDTH], + ) -> Self { + let position1 = Isometry::from(array![|ii| rbs1[ii].position; SIMD_WIDTH]); + let linvel1 = Vector::from(array![|ii| rbs1[ii].linvel; SIMD_WIDTH]); + let angvel1 = AngVector::<SimdFloat>::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]); + let world_com1 = Point::from(array![|ii| rbs1[ii].world_com; SIMD_WIDTH]); + + let position2 = Isometry::from(array![|ii| rbs2[ii].position; SIMD_WIDTH]); + let linvel2 = Vector::from(array![|ii| rbs2[ii].linvel; SIMD_WIDTH]); + let angvel2 = AngVector::<SimdFloat>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]); + let world_com2 = Point::from(array![|ii| rbs2[ii].world_com; SIMD_WIDTH]); + let im2 = SimdFloat::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]); + let ii2_sqrt = AngularInertia::<SimdFloat>::from( + array![|ii| rbs2[ii].world_inv_inertia_sqrt; SIMD_WIDTH], + ); + let mj_lambda2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH]; + let impulse = Vector5::from(array![|ii| cparams[ii].impulse; SIMD_WIDTH]); + + let local_anchor1 = Point::from( + array![|ii| if flipped[ii] { cparams[ii].local_anchor2 } else { cparams[ii].local_anchor1 }; SIMD_WIDTH], + ); + let local_anchor2 = Point::from( + array![|ii| if flipped[ii] { cparams[ii].local_anchor1 } else { cparams[ii].local_anchor2 }; SIMD_WIDTH], + ); + let basis1 = Matrix3x2::from_columns(&[ + position1 + * Vector::from( + array![|ii| if flipped[ii] { cparams[ii].basis2[0] } else { cparams[ii].basis1[0] }; SIMD_WIDTH], + ), + position1 + * Vector::from( + array![|ii| if flipped[ii] { cparams[ii].basis2[1] } else { cparams[ii].basis1[1] }; SIMD_WIDTH], + ), + ]); + + let anchor1 = position1 * local_anchor1; + let anchor2 = position2 * local_anchor2; + + // let r21 = Rotation::rotation_between_axis(&axis1, &axis2) + // .unwrap_or(Rotation::identity()) + // .to_rotation_matrix() + // .into_inner(); + // let basis2 = /*r21 * */ basis1; + let ii2 = ii2_sqrt.squared(); + let r1 = anchor1 - world_com1; + let r2 = anchor2 - world_com2; + let r2_mat = r2.gcross_matrix(); + + let mut lhs = Matrix5::zeros(); + let lhs00 = ii2.quadform(&r2_mat).add_diagonal(im2); + let lhs10 = basis1.tr_mul(&(ii2 * r2_mat)); + let lhs11 = ii2.quadform3x2(&basis1).into_matrix(); + + // Note that cholesky won't read the upper-right part + // of lhs so we don't have to fill it. + lhs.fixed_slice_mut::<U3, U3>(0, 0) + .copy_from(&lhs00.into_matrix()); + lhs.fixed_slice_mut::<U2, U3>(3, 0).copy_from(&lhs10); + lhs.fixed_slice_mut::<U2, U2>(3, 3).copy_from(&lhs11); + + let inv_lhs = Cholesky::new_unchecked(lhs).inverse(); + + let lin_rhs = linvel2 + angvel2.gcross(r2) - linvel1 - angvel1.gcross(r1); + let ang_rhs = basis1.tr_mul(&(angvel2 - angvel1)); + let rhs = Vector5::new(lin_rhs.x, lin_rhs.y, lin_rhs.z, ang_rhs.x, ang_rhs.y); + + WRevoluteVelocityGroundConstraint { + joint_id, + mj_lambda2, + im2, + ii2_sqrt, + impulse: impulse * SimdFloat::splat(params.warmstart_coeff), + basis1, + inv_lhs, + rhs, + r2, + } + } + + pub fn warmstart(&self, mj_lambdas: &mut [DeltaVel<f32>]) { + let mut mj_lambda2 = DeltaVel { + linear: Vector::from( + array![|ii| mj_lambdas[self.mj_lambda2[ii] as usize].linear; SIMD_WIDTH], + ), + angular: AngVector::from( + array![|ii| mj_lambdas[self.mj_lambda2[ii] as usize].angular; SIMD_WIDTH], + ), + }; + + let lin_impulse = self.impulse.fixed_rows::<U3>(0).into_owned(); + let ang_impulse = self.basis1 * self.impulse.fixed_rows::<U2>(3).into_owned(); + + mj_lambda2.linear -= lin_impulse * self.im2; + mj_lambda2.angular -= self + .ii2_sqrt + .transform_vector(ang_impulse + self.r2.gcross(lin_impulse)); + + for ii in 0..SIMD_WIDTH { + mj_lambdas[self.mj_lambda2[ii] as usize].linear = mj_lambda2.linear.extract(ii); + mj_lambdas[self.mj_lambda2[ii] as usize].angular = mj_lambda2.angular.extract(ii); + } + } + + pub fn solve(&mut self, mj_lambdas: &mut [DeltaVel<f32>]) { + let mut mj_lambda2 = DeltaVel { + linear: Vector::from( + array![|ii| mj_lambdas[self.mj_lambda2[ii] as usize].linear; SIMD_WIDTH], + ), + angular: AngVector::from( + array![|ii| mj_lambdas[self.mj_lambda2[ii] as usize].angular; SIMD_WIDTH], + ), + }; + + let ang_vel2 = self.ii2_sqrt.transform_vector(mj_lambda2.angular); + let lin_dvel = mj_lambda2.linear + ang_vel2.gcross(self.r2); + let ang_dvel = self.basis1.tr_mul(&ang_vel2); + let rhs = + Vector5::new(lin_dvel.x, lin_dvel.y, lin_dvel.z, ang_dvel.x, ang_dvel.y) + self.rhs; + let impulse = self.inv_lhs * rhs; + self.impulse += impulse; + let lin_impulse = impulse.fixed_rows::<U3>(0).into_owned(); + let ang_impulse = self.basis1 * impulse.fixed_rows::<U2>(3).into_owned(); + + mj_lambda2.linear -= lin_impulse * self.im2; + mj_lambda2.angular -= self + .ii2_sqrt + .transform_vector(ang_impulse + self.r2.gcross(lin_impulse)); + + for ii in 0..SIMD_WIDTH { + mj_lambdas[self.mj_lambda2[ii] as usize].linear = mj_lambda2.linear.extract(ii); + mj_lambdas[self.mj_lambda2[ii] as usize].angular = mj_lambda2.angular.extract(ii); + } + } + + // FIXME: duplicated code with the non-ground constraint. + pub fn writeback_impulses(&self, joints_all: &mut [JointGraphEdge]) { + for ii in 0..SIMD_WIDTH { + let joint = &mut joints_all[self.joint_id[ii]].weight; + if let JointParams::RevoluteJoint(rev) = &mut joint.params { + rev.impulse = self.impulse.extract(ii) + } + } + } +} |