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Diffstat (limited to 'src/dynamics/solver/position_constraint_wide.rs')
| -rw-r--r-- | src/dynamics/solver/position_constraint_wide.rs | 157 |
1 files changed, 0 insertions, 157 deletions
diff --git a/src/dynamics/solver/position_constraint_wide.rs b/src/dynamics/solver/position_constraint_wide.rs deleted file mode 100644 index 0b8e762..0000000 --- a/src/dynamics/solver/position_constraint_wide.rs +++ /dev/null @@ -1,157 +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 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<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, -} - -impl WPositionConstraint { - pub fn generate<Bodies>( - params: &IntegrationParameters, - manifolds: [&ContactManifold; SIMD_WIDTH], - bodies: &Bodies, - out_constraints: &mut Vec<AnyPositionConstraint>, - push: bool, - ) where - Bodies: ComponentSet<RigidBodyPosition> - + ComponentSet<RigidBodyMassProps> - + ComponentSet<RigidBodyIds>, - { - let handles1 = gather![|ii| manifolds[ii].data.rigid_body1.unwrap()]; - let handles2 = gather![|ii| manifolds[ii].data.rigid_body2.unwrap()]; - - let poss1: [&RigidBodyPosition; SIMD_WIDTH] = gather![|ii| bodies.index(handles1[ii].0)]; - let poss2: [&RigidBodyPosition; SIMD_WIDTH] = gather![|ii| bodies.index(handles2[ii].0)]; - let ids1: [&RigidBodyIds; SIMD_WIDTH] = gather![|ii| bodies.index(handles1[ii].0)]; - let ids2: [&RigidBodyIds; SIMD_WIDTH] = gather![|ii| bodies.index(handles2[ii].0)]; - let mprops1: [&RigidBodyMassProps; SIMD_WIDTH] = gather![|ii| bodies.index(handles1[ii].0)]; - let mprops2: [&RigidBodyMassProps; SIMD_WIDTH] = gather![|ii| bodies.index(handles2[ii].0)]; - - let im1 = SimdReal::from(gather![|ii| mprops1[ii].effective_inv_mass]); - let sqrt_ii1: AngularInertia<SimdReal> = - AngularInertia::from(gather![|ii| mprops1[ii].effective_world_inv_inertia_sqrt]); - 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 pos1 = Isometry::from(gather![|ii| poss1[ii].position]); - let pos2 = Isometry::from(gather![|ii| poss2[ii].position]); - - let local_n1 = - pos1.inverse_transform_vector(&Vector::from(gather![|ii| manifolds[ii].data.normal])); - - let rb1 = gather![|ii| ids1[ii].active_set_offset]; - 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 = WPositionConstraint { - rb1, - rb2, - local_p1: [Point::origin(); MAX_MANIFOLD_POINTS], - local_p2: [Point::origin(); MAX_MANIFOLD_POINTS], - local_n1, - dists: [SimdReal::zero(); MAX_MANIFOLD_POINTS], - im1, - im2, - ii1: sqrt_ii1.squared(), - 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.local_p1[i] = pos1.inverse_transform_point(&point); - constraint.local_p2[i] = pos2.inverse_transform_point(&point); - constraint.dists[i] = dist; - } - - if push { - out_constraints.push(AnyPositionConstraint::GroupedNonGround(constraint)); - } else { - out_constraints[manifolds[0].data.constraint_index + l / MAX_MANIFOLD_POINTS] = - AnyPositionConstraint::GroupedNonGround(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 pos1 = Isometry::from(gather![|ii| positions[self.rb1[ii]]]); - 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 = pos1 * self.local_n1; - let p1 = pos1 * self.local_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() { - // 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, SimdReal::zero()); - let dp1 = p1.coords - pos1.translation.vector; - let dp2 = p2.coords - pos2.translation.vector; - - let gcross1 = dp1.gcross(n1); - let gcross2 = -dp2.gcross(n1); - 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(n1 * (impulse * self.im1)) * pos1.translation; - pos1.rotation = Rotation::new(ii_gcross1 * impulse) * pos1.rotation; - 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.rb1[ii]] = pos1.extract(ii); - } - for ii in 0..SIMD_WIDTH { - positions[self.rb2[ii]] = pos2.extract(ii); - } - } -} |