diff options
Diffstat (limited to 'src/dynamics/solver/velocity_constraint_wide.rs')
| -rw-r--r-- | src/dynamics/solver/velocity_constraint_wide.rs | 24 |
1 files changed, 16 insertions, 8 deletions
diff --git a/src/dynamics/solver/velocity_constraint_wide.rs b/src/dynamics/solver/velocity_constraint_wide.rs index 8f387a5..f515d5e 100644 --- a/src/dynamics/solver/velocity_constraint_wide.rs +++ b/src/dynamics/solver/velocity_constraint_wide.rs @@ -72,6 +72,9 @@ impl WVelocityConstraint { let rbs1 = array![|ii| &bodies[manifolds[ii].body_pair.body1]; SIMD_WIDTH]; let rbs2 = array![|ii| &bodies[manifolds[ii].body_pair.body2]; SIMD_WIDTH]; + let delta1 = Isometry::from(array![|ii| manifolds[ii].delta1; SIMD_WIDTH]); + let delta2 = Isometry::from(array![|ii| manifolds[ii].delta2; SIMD_WIDTH]); + let im1 = SimdFloat::from(array![|ii| rbs1[ii].mass_properties.inv_mass; SIMD_WIDTH]); let ii1: AngularInertia<SimdFloat> = AngularInertia::from(array![|ii| rbs1[ii].world_inv_inertia_sqrt; SIMD_WIDTH]); @@ -79,7 +82,8 @@ impl WVelocityConstraint { let linvel1 = Vector::from(array![|ii| rbs1[ii].linvel; SIMD_WIDTH]); let angvel1 = AngVector::<SimdFloat>::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]); - let position1 = Isometry::from(array![|ii| rbs1[ii].position; SIMD_WIDTH]); + let pos1 = Isometry::from(array![|ii| rbs1[ii].position; SIMD_WIDTH]); + let world_com1 = Point::from(array![|ii| rbs1[ii].world_com; SIMD_WIDTH]); let im2 = SimdFloat::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]); let ii2: AngularInertia<SimdFloat> = @@ -88,9 +92,13 @@ impl WVelocityConstraint { let linvel2 = Vector::from(array![|ii| rbs2[ii].linvel; SIMD_WIDTH]); let angvel2 = AngVector::<SimdFloat>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]); - let position2 = Isometry::from(array![|ii| rbs2[ii].position; SIMD_WIDTH]); + let pos2 = Isometry::from(array![|ii| rbs2[ii].position; SIMD_WIDTH]); + let world_com2 = Point::from(array![|ii| rbs2[ii].world_com; SIMD_WIDTH]); + + let coll_pos1 = pos1 * delta1; + let coll_pos2 = pos2 * delta2; - let force_dir1 = position1 * -Vector::from(array![|ii| manifolds[ii].local_n1; SIMD_WIDTH]); + let force_dir1 = coll_pos1 * -Vector::from(array![|ii| manifolds[ii].local_n1; SIMD_WIDTH]); let mj_lambda1 = array![|ii| rbs1[ii].active_set_offset; SIMD_WIDTH]; let mj_lambda2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH]; @@ -118,11 +126,11 @@ impl WVelocityConstraint { }; for k in 0..num_points { - // FIXME: can we avoid the multiplications by position1/position2 here? + // FIXME: can we avoid the multiplications by coll_pos1/coll_pos2 here? // By working as much as possible in local-space. - let p1 = position1 + let p1 = coll_pos1 * Point::from(array![|ii| manifold_points[ii][k].local_p1; SIMD_WIDTH]); - let p2 = position2 + let p2 = coll_pos2 * Point::from(array![|ii| manifold_points[ii][k].local_p2; SIMD_WIDTH]); let dist = SimdFloat::from(array![|ii| manifold_points[ii][k].dist; SIMD_WIDTH]); @@ -130,8 +138,8 @@ impl WVelocityConstraint { let impulse = SimdFloat::from(array![|ii| manifold_points[ii][k].impulse; SIMD_WIDTH]); - let dp1 = p1.coords - position1.translation.vector; - let dp2 = p2.coords - position2.translation.vector; + let dp1 = p1 - world_com1; + let dp2 = p2 - world_com2; let vel1 = linvel1 + angvel1.gcross(dp1); let vel2 = linvel2 + angvel2.gcross(dp2); |