diff options
Diffstat (limited to 'src/dynamics/solver/velocity_ground_constraint_wide.rs')
| -rw-r--r-- | src/dynamics/solver/velocity_ground_constraint_wide.rs | 21 |
1 files changed, 11 insertions, 10 deletions
diff --git a/src/dynamics/solver/velocity_ground_constraint_wide.rs b/src/dynamics/solver/velocity_ground_constraint_wide.rs index c2d2c4f..4a58c69 100644 --- a/src/dynamics/solver/velocity_ground_constraint_wide.rs +++ b/src/dynamics/solver/velocity_ground_constraint_wide.rs @@ -2,7 +2,8 @@ use super::{AnyVelocityConstraint, DeltaVel}; use crate::dynamics::{IntegrationParameters, RigidBodySet}; use crate::geometry::{ContactManifold, ContactManifoldIndex}; use crate::math::{ - AngVector, AngularInertia, Point, Real, SimdReal, Vector, DIM, MAX_MANIFOLD_POINTS, SIMD_WIDTH, + AngVector, AngularInertia, Point, Real, SimdBool, SimdReal, Vector, DIM, MAX_MANIFOLD_POINTS, + SIMD_WIDTH, }; use crate::utils::{WAngularInertia, WBasis, WCross, WDot}; use num::Zero; @@ -95,8 +96,6 @@ impl WVelocityGroundConstraint { let mj_lambda2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH]; - let restitution_velocity_threshold = SimdReal::splat(params.restitution_velocity_threshold); - let warmstart_multiplier = SimdReal::from(array![|ii| manifolds[ii].data.warmstart_multiplier; SIMD_WIDTH]); let warmstart_coeff = warmstart_multiplier * SimdReal::splat(params.warmstart_coeff); @@ -120,8 +119,11 @@ impl WVelocityGroundConstraint { for k in 0..num_points { let friction = SimdReal::from(array![|ii| manifold_points[ii][k].friction; SIMD_WIDTH]); - let restitution = - SimdReal::from(array![|ii| manifold_points[ii][k].restitution; SIMD_WIDTH]); + let restitution_plus_1 = SimdReal::from( + array![|ii| manifold_points[ii][k].restitution + 1.0; SIMD_WIDTH], + ); + let is_bouncy = + SimdBool::from(array![|ii| manifold_points[ii][k].is_bouncy(); SIMD_WIDTH]); let point = Point::from(array![|ii| manifold_points[ii][k].point; SIMD_WIDTH]); let dist = SimdReal::from(array![|ii| manifold_points[ii][k].dist; SIMD_WIDTH]); @@ -140,11 +142,10 @@ impl WVelocityGroundConstraint { let gcross2 = ii2.transform_vector(dp2.gcross(-force_dir1)); let r = SimdReal::splat(1.0) / (im2 + gcross2.gdot(gcross2)); - let mut rhs = (vel1 - vel2).dot(&force_dir1); - let use_restitution = rhs.simd_le(-restitution_velocity_threshold); - let rhs_with_restitution = rhs + rhs * restitution; - rhs = rhs_with_restitution.select(use_restitution, rhs); - rhs += dist.simd_max(SimdReal::zero()) * inv_dt; + let projected_velocity = (vel1 - vel2).dot(&force_dir1); + let rhs_resting = projected_velocity + dist.simd_max(SimdReal::zero()) * inv_dt; + let rhs_bouncing = projected_velocity * restitution_plus_1; + let rhs = rhs_bouncing.select(is_bouncy, rhs_resting); constraint.elements[k].normal_part = WVelocityGroundConstraintElementPart { gcross2, |