diff options
Diffstat (limited to 'src/dynamics/solver/position_ground_constraint_wide.rs')
| -rw-r--r-- | src/dynamics/solver/position_ground_constraint_wide.rs | 199 |
1 files changed, 199 insertions, 0 deletions
diff --git a/src/dynamics/solver/position_ground_constraint_wide.rs b/src/dynamics/solver/position_ground_constraint_wide.rs new file mode 100644 index 0000000..faa928b --- /dev/null +++ b/src/dynamics/solver/position_ground_constraint_wide.rs @@ -0,0 +1,199 @@ +use super::AnyPositionConstraint; +use crate::dynamics::{IntegrationParameters, RigidBodySet}; +use crate::geometry::{ContactManifold, KinematicsCategory}; +use crate::math::{ + AngularInertia, Isometry, Point, Rotation, SimdFloat, Translation, Vector, MAX_MANIFOLD_POINTS, + SIMD_WIDTH, +}; +use crate::utils::{WAngularInertia, WCross, WDot}; + +use num::Zero; +use simba::simd::{SimdBool as _, SimdComplexField, SimdPartialOrd, SimdValue}; + +pub(crate) struct WPositionGroundConstraint { + pub rb2: [usize; SIMD_WIDTH], + // NOTE: the points are relative to the center of masses. + pub p1: [Point<SimdFloat>; MAX_MANIFOLD_POINTS], + pub local_p2: [Point<SimdFloat>; MAX_MANIFOLD_POINTS], + pub n1: Vector<SimdFloat>, + pub radius: SimdFloat, + pub im2: SimdFloat, + pub ii2: AngularInertia<SimdFloat>, + pub erp: SimdFloat, + pub max_linear_correction: SimdFloat, + pub num_contacts: u8, +} + +impl WPositionGroundConstraint { + pub fn generate( + params: &IntegrationParameters, + manifolds: [&ContactManifold; SIMD_WIDTH], + bodies: &RigidBodySet, + out_constraints: &mut Vec<AnyPositionConstraint>, + push: bool, + ) { + let mut rbs1 = array![|ii| bodies.get(manifolds[ii].body_pair.body1).unwrap(); SIMD_WIDTH]; + let mut rbs2 = array![|ii| bodies.get(manifolds[ii].body_pair.body2).unwrap(); SIMD_WIDTH]; + let mut flipped = [false; SIMD_WIDTH]; + + for ii in 0..SIMD_WIDTH { + if !rbs2[ii].is_dynamic() { + flipped[ii] = true; + std::mem::swap(&mut rbs1[ii], &mut rbs2[ii]); + } + } + + let im2 = SimdFloat::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]); + let sqrt_ii2: AngularInertia<SimdFloat> = + 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 radius1 = SimdFloat::from(array![|ii| manifolds[ii].kinematics.radius1; SIMD_WIDTH]); + let radius2 = SimdFloat::from(array![|ii| manifolds[ii].kinematics.radius2; SIMD_WIDTH]); + + let position1 = Isometry::from(array![|ii| rbs1[ii].predicted_position; SIMD_WIDTH]); + + let rb2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH]; + + let radius = radius1 + radius2 /*- SimdFloat::splat(params.allowed_linear_error)*/; + + let n1 = position1 * local_n1; + + 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]; + 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, + radius, + im2, + ii2: sqrt_ii2.squared(), + erp: SimdFloat::splat(params.erp), + max_linear_correction: SimdFloat::splat(params.max_linear_correction), + num_contacts: num_points as u8, + }; + + 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] = position1 * local_p1 - n1 * radius1; + constraint.local_p2[i] = local_p2 - local_n2 * radius2; + } + + if push { + if manifolds[0].kinematics.category == KinematicsCategory::PointPoint { + out_constraints + .push(AnyPositionConstraint::GroupedPointPointGround(constraint)); + } else { + out_constraints + .push(AnyPositionConstraint::GroupedPlanePointGround(constraint)); + } + } else { + if manifolds[0].kinematics.category == KinematicsCategory::PointPoint { + out_constraints[manifolds[0].constraint_index + l / MAX_MANIFOLD_POINTS] = + AnyPositionConstraint::GroupedPointPointGround(constraint); + } else { + out_constraints[manifolds[0].constraint_index + l / MAX_MANIFOLD_POINTS] = + AnyPositionConstraint::GroupedPlanePointGround(constraint); + } + } + } + } + pub fn solve_point_point( + &self, + params: &IntegrationParameters, + positions: &mut [Isometry<f32>], + ) { + // FIXME: can we avoid most of the multiplications by pos1/pos2? + // Compute jacobians. + let mut pos2 = Isometry::from(array![|ii| positions[self.rb2[ii]]; SIMD_WIDTH]); + let allowed_err = SimdFloat::splat(params.allowed_linear_error); + let target_dist = self.radius - allowed_err; + + for k in 0..self.num_contacts as usize { + let p1 = self.p1[k]; + let p2 = pos2 * self.local_p2[k]; + + let dpos = p2 - p1; + let sqdist = dpos.norm_squared(); + + if sqdist.simd_lt(target_dist * target_dist).any() { + let dist = sqdist.simd_sqrt(); + let n = dpos / dist; + let err = ((dist - target_dist) * self.erp) + .simd_clamp(-self.max_linear_correction, SimdFloat::zero()); + let dp2 = p2.coords - pos2.translation.vector; + let gcross2 = -dp2.gcross(n); + 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(n * (-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); + } + } + + pub fn solve_plane_point( + &self, + params: &IntegrationParameters, + positions: &mut [Isometry<f32>], + ) { + // FIXME: can we avoid most of the multiplications by pos1/pos2? + // Compute jacobians. + let mut pos2 = Isometry::from(array![|ii| positions[self.rb2[ii]]; SIMD_WIDTH]); + let allowed_err = SimdFloat::splat(params.allowed_linear_error); + let target_dist = self.radius - allowed_err; + + for k in 0..self.num_contacts as usize { + 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, SimdFloat::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); + } + } +} |