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-rw-r--r--src/dynamics/solver/generic_velocity_constraint.rs18
-rw-r--r--src/dynamics/solver/generic_velocity_ground_constraint.rs22
-rw-r--r--src/dynamics/solver/parallel_velocity_solver.rs7
-rw-r--r--src/dynamics/solver/velocity_constraint.rs44
-rw-r--r--src/dynamics/solver/velocity_constraint_wide.rs22
-rw-r--r--src/dynamics/solver/velocity_ground_constraint.rs24
-rw-r--r--src/dynamics/solver/velocity_ground_constraint_wide.rs31
-rw-r--r--src/dynamics/solver/velocity_solver.rs7
8 files changed, 115 insertions, 60 deletions
diff --git a/src/dynamics/solver/generic_velocity_constraint.rs b/src/dynamics/solver/generic_velocity_constraint.rs
index 318727e..ed8c569 100644
--- a/src/dynamics/solver/generic_velocity_constraint.rs
+++ b/src/dynamics/solver/generic_velocity_constraint.rs
@@ -34,6 +34,7 @@ impl GenericVelocityConstraint {
jacobian_id: &mut usize,
insert_at: Option<usize>,
) {
+ let cfm_factor = params.cfm_factor();
let inv_dt = params.inv_dt();
let erp_inv_dt = params.erp_inv_dt();
@@ -45,6 +46,7 @@ impl GenericVelocityConstraint {
let (vels1, mprops1, type1) = (&rb1.vels, &rb1.mprops, &rb1.body_type);
let (vels2, mprops2, type2) = (&rb2.vels, &rb2.mprops, &rb2.body_type);
+ let ccd_thickness = rb1.ccd.ccd_thickness + rb2.ccd.ccd_thickness;
let multibody1 = multibodies
.rigid_body_link(handle1)
@@ -92,6 +94,7 @@ impl GenericVelocityConstraint {
.enumerate()
{
let chunk_j_id = *jacobian_id;
+ let mut is_fast_contact = false;
let mut constraint = VelocityConstraint {
dir1: force_dir1,
#[cfg(feature = "dim3")]
@@ -107,6 +110,7 @@ impl GenericVelocityConstraint {
} else {
na::zero()
},
+ cfm_factor,
limit: 0.0,
mj_lambda1,
mj_lambda2,
@@ -196,10 +200,13 @@ impl GenericVelocityConstraint {
let rhs_bias =
/* is_resting * */ erp_inv_dt * manifold_point.dist.clamp(-params.max_penetration_correction, 0.0);
+ let rhs = rhs_wo_bias + rhs_bias;
+ is_fast_contact = is_fast_contact || (-rhs * params.dt > ccd_thickness * 0.5);
+
constraint.elements[k].normal_part = VelocityConstraintNormalPart {
gcross1,
gcross2,
- rhs: rhs_wo_bias + rhs_bias,
+ rhs,
rhs_wo_bias,
impulse: na::zero(),
r,
@@ -283,6 +290,8 @@ impl GenericVelocityConstraint {
}
}
+ constraint.cfm_factor = if is_fast_contact { 1.0 } else { cfm_factor };
+
let ndofs1 = multibody1.map(|mb| mb.0.ndofs()).unwrap_or(0);
let ndofs2 = multibody2.map(|mb| mb.0.ndofs()).unwrap_or(0);
// NOTE: we use the generic constraint for non-dynamic bodies because this will
@@ -310,7 +319,6 @@ impl GenericVelocityConstraint {
pub fn solve(
&mut self,
- cfm_factor: Real,
jacobians: &DVector<Real>,
mj_lambdas: &mut [DeltaVel<Real>],
generic_mj_lambdas: &mut DVector<Real>,
@@ -332,7 +340,7 @@ impl GenericVelocityConstraint {
let elements = &mut self.velocity_constraint.elements
[..self.velocity_constraint.num_contacts as usize];
VelocityConstraintElement::generic_solve_group(
- cfm_factor,
+ self.velocity_constraint.cfm_factor,
elements,
jacobians,
&self.velocity_constraint.dir1,
@@ -364,7 +372,7 @@ impl GenericVelocityConstraint {
self.velocity_constraint.writeback_impulses(manifolds_all);
}
- pub fn remove_bias_from_rhs(&mut self) {
- self.velocity_constraint.remove_bias_from_rhs();
+ pub fn remove_cfm_and_bias_from_rhs(&mut self) {
+ self.velocity_constraint.remove_cfm_and_bias_from_rhs();
}
}
diff --git a/src/dynamics/solver/generic_velocity_ground_constraint.rs b/src/dynamics/solver/generic_velocity_ground_constraint.rs
index 16648c4..91bb9fb 100644
--- a/src/dynamics/solver/generic_velocity_ground_constraint.rs
+++ b/src/dynamics/solver/generic_velocity_ground_constraint.rs
@@ -32,6 +32,7 @@ impl GenericVelocityGroundConstraint {
jacobian_id: &mut usize,
insert_at: Option<usize>,
) {
+ let cfm_factor = params.cfm_factor();
let inv_dt = params.inv_dt();
let erp_inv_dt = params.erp_inv_dt();
@@ -85,12 +86,14 @@ impl GenericVelocityGroundConstraint {
.enumerate()
{
let chunk_j_id = *jacobian_id;
+ let mut is_fast_contact = false;
let mut constraint = VelocityGroundConstraint {
dir1: force_dir1,
#[cfg(feature = "dim3")]
tangent1: tangents1[0],
elements: [VelocityGroundConstraintElement::zero(); MAX_MANIFOLD_POINTS],
im2: mprops2.effective_inv_mass,
+ cfm_factor,
limit: 0.0,
mj_lambda2,
manifold_id,
@@ -130,16 +133,20 @@ impl GenericVelocityGroundConstraint {
let is_bouncy = manifold_point.is_bouncy() as u32 as Real;
let is_resting = 1.0 - is_bouncy;
- let mut rhs_wo_bias = (1.0 + is_bouncy * manifold_point.restitution)
- * (vel1 - vel2).dot(&force_dir1);
+ let dvel = (vel1 - vel2).dot(&force_dir1);
+ let mut rhs_wo_bias = (1.0 + is_bouncy * manifold_point.restitution) * dvel;
rhs_wo_bias += manifold_point.dist.max(0.0) * inv_dt;
rhs_wo_bias *= is_bouncy + is_resting;
let rhs_bias =
/* is_resting * */ erp_inv_dt * manifold_point.dist.clamp(-params.max_penetration_correction, 0.0);
+ let rhs = rhs_wo_bias + rhs_bias;
+ is_fast_contact =
+ is_fast_contact || (-rhs * params.dt > rb2.ccd.ccd_thickness * 0.5);
+
constraint.elements[k].normal_part = VelocityGroundConstraintNormalPart {
gcross2: na::zero(), // Unused for generic constraints.
- rhs: rhs_wo_bias + rhs_bias,
+ rhs,
rhs_wo_bias,
impulse: na::zero(),
r,
@@ -181,6 +188,8 @@ impl GenericVelocityGroundConstraint {
}
}
+ constraint.cfm_factor = if is_fast_contact { 1.0 } else { cfm_factor };
+
let constraint = GenericVelocityGroundConstraint {
velocity_constraint: constraint,
j_id: chunk_j_id,
@@ -198,7 +207,6 @@ impl GenericVelocityGroundConstraint {
pub fn solve(
&mut self,
- cfm_factor: Real,
jacobians: &DVector<Real>,
generic_mj_lambdas: &mut DVector<Real>,
solve_restitution: bool,
@@ -209,7 +217,7 @@ impl GenericVelocityGroundConstraint {
let elements = &mut self.velocity_constraint.elements
[..self.velocity_constraint.num_contacts as usize];
VelocityGroundConstraintElement::generic_solve_group(
- cfm_factor,
+ self.velocity_constraint.cfm_factor,
elements,
jacobians,
self.velocity_constraint.limit,
@@ -226,7 +234,7 @@ impl GenericVelocityGroundConstraint {
self.velocity_constraint.writeback_impulses(manifolds_all);
}
- pub fn remove_bias_from_rhs(&mut self) {
- self.velocity_constraint.remove_bias_from_rhs();
+ pub fn remove_cfm_and_bias_from_rhs(&mut self) {
+ self.velocity_constraint.remove_cfm_and_bias_from_rhs();
}
}
diff --git a/src/dynamics/solver/parallel_velocity_solver.rs b/src/dynamics/solver/parallel_velocity_solver.rs
index ab34a42..3db1cdc 100644
--- a/src/dynamics/solver/parallel_velocity_solver.rs
+++ b/src/dynamics/solver/parallel_velocity_solver.rs
@@ -45,7 +45,6 @@ impl ParallelVelocitySolver {
let joint_descs = &joint_constraints.constraint_descs[..];
let mut target_num_desc = 0;
let mut shift = 0;
- let cfm_factor = params.cfm_factor();
// Each thread will concurrently grab thread.batch_size constraint desc to
// solve. If the batch size is large enough to cross the boundary of
@@ -122,7 +121,6 @@ impl ParallelVelocitySolver {
// Solve rigid-body contacts.
solve!(
contact_constraints,
- cfm_factor,
&contact_constraints.generic_jacobians,
&mut self.mj_lambdas,
&mut self.generic_mj_lambdas,
@@ -135,7 +133,6 @@ impl ParallelVelocitySolver {
// Solve generic rigid-body contacts.
solve!(
contact_constraints,
- cfm_factor,
&contact_constraints.generic_jacobians,
&mut self.mj_lambdas,
&mut self.generic_mj_lambdas,
@@ -148,7 +145,6 @@ impl ParallelVelocitySolver {
if solve_friction {
solve!(
contact_constraints,
- cfm_factor,
&contact_constraints.generic_jacobians,
&mut self.mj_lambdas,
&mut self.generic_mj_lambdas,
@@ -173,7 +169,6 @@ impl ParallelVelocitySolver {
for _ in 0..remaining_friction_iterations {
solve!(
contact_constraints,
- cfm_factor,
&contact_constraints.generic_jacobians,
&mut self.mj_lambdas,
&mut self.generic_mj_lambdas,
@@ -265,7 +260,6 @@ impl ParallelVelocitySolver {
solve!(
contact_constraints,
- cfm_factor,
&contact_constraints.generic_jacobians,
&mut self.mj_lambdas,
&mut self.generic_mj_lambdas,
@@ -277,7 +271,6 @@ impl ParallelVelocitySolver {
solve!(
contact_constraints,
- cfm_factor,
&contact_constraints.generic_jacobians,
&mut self.mj_lambdas,
&mut self.generic_mj_lambdas,
diff --git a/src/dynamics/solver/velocity_constraint.rs b/src/dynamics/solver/velocity_constraint.rs
index 23d4b97..7d2294e 100644
--- a/src/dynamics/solver/velocity_constraint.rs
+++ b/src/dynamics/solver/velocity_constraint.rs
@@ -47,21 +47,20 @@ impl AnyVelocityConstraint {
pub fn remove_bias_from_rhs(&mut self) {
match self {
- AnyVelocityConstraint::Nongrouped(c) => c.remove_bias_from_rhs(),
- AnyVelocityConstraint::NongroupedGround(c) => c.remove_bias_from_rhs(),
+ AnyVelocityConstraint::Nongrouped(c) => c.remove_cfm_and_bias_from_rhs(),
+ AnyVelocityConstraint::NongroupedGround(c) => c.remove_cfm_and_bias_from_rhs(),
#[cfg(feature = "simd-is-enabled")]
- AnyVelocityConstraint::Grouped(c) => c.remove_bias_from_rhs(),
+ AnyVelocityConstraint::Grouped(c) => c.remove_cfm_and_bias_from_rhs(),
#[cfg(feature = "simd-is-enabled")]
- AnyVelocityConstraint::GroupedGround(c) => c.remove_bias_from_rhs(),
- AnyVelocityConstraint::NongroupedGeneric(c) => c.remove_bias_from_rhs(),
- AnyVelocityConstraint::NongroupedGenericGround(c) => c.remove_bias_from_rhs(),
+ AnyVelocityConstraint::GroupedGround(c) => c.remove_cfm_and_bias_from_rhs(),
+ AnyVelocityConstraint::NongroupedGeneric(c) => c.remove_cfm_and_bias_from_rhs(),
+ AnyVelocityConstraint::NongroupedGenericGround(c) => c.remove_cfm_and_bias_from_rhs(),
AnyVelocityConstraint::Empty => unreachable!(),
}
}
pub fn solve(
&mut self,
- cfm_factor: Real,
jacobians: &DVector<Real>,
mj_lambdas: &mut [DeltaVel<Real>],
generic_mj_lambdas: &mut DVector<Real>,
@@ -70,21 +69,20 @@ impl AnyVelocityConstraint {
) {
match self {
AnyVelocityConstraint::NongroupedGround(c) => {
- c.solve(cfm_factor, mj_lambdas, solve_restitution, solve_friction)
+ c.solve(mj_lambdas, solve_restitution, solve_friction)
}
AnyVelocityConstraint::Nongrouped(c) => {
- c.solve(cfm_factor, mj_lambdas, solve_restitution, solve_friction)
+ c.solve(mj_lambdas, solve_restitution, solve_friction)
}
#[cfg(feature = "simd-is-enabled")]
AnyVelocityConstraint::GroupedGround(c) => {
- c.solve(cfm_factor, mj_lambdas, solve_restitution, solve_friction)
+ c.solve(mj_lambdas, solve_restitution, solve_friction)
}
#[cfg(feature = "simd-is-enabled")]
AnyVelocityConstraint::Grouped(c) => {
- c.solve(cfm_factor, mj_lambdas, solve_restitution, solve_friction)
+ c.solve(mj_lambdas, solve_restitution, solve_friction)
}
AnyVelocityConstraint::NongroupedGeneric(c) => c.solve(
- cfm_factor,
jacobians,
mj_lambdas,
generic_mj_lambdas,
@@ -92,7 +90,6 @@ impl AnyVelocityConstraint {
solve_friction,
),
AnyVelocityConstraint::NongroupedGenericGround(c) => c.solve(
- cfm_factor,
jacobians,
generic_mj_lambdas,
solve_restitution,
@@ -124,6 +121,7 @@ pub(crate) struct VelocityConstraint {
pub tangent1: Vector<Real>, // One of the friction force directions.
pub im1: Vector<Real>,
pub im2: Vector<Real>,
+ pub cfm_factor: Real,
pub limit: Real,
pub mj_lambda1: usize,
pub mj_lambda2: usize,
@@ -153,6 +151,7 @@ impl VelocityConstraint {
) {
assert_eq!(manifold.data.relative_dominance, 0);
+ let cfm_factor = params.cfm_factor();
let inv_dt = params.inv_dt();
let erp_inv_dt = params.erp_inv_dt();
@@ -163,6 +162,7 @@ impl VelocityConstraint {
let (vels1, mprops1) = (&rb1.vels, &rb1.mprops);
let rb2 = &bodies[handle2];
let (vels2, mprops2) = (&rb2.vels, &rb2.mprops);
+ let ccd_thickness = rb1.ccd.ccd_thickness + rb2.ccd.ccd_thickness;
let mj_lambda1 = rb1.ids.active_set_offset;
let mj_lambda2 = rb2.ids.active_set_offset;
@@ -180,6 +180,8 @@ impl VelocityConstraint {
.chunks(MAX_MANIFOLD_POINTS)
.enumerate()
{
+ let mut is_fast_contact = false;
+
#[cfg(not(target_arch = "wasm32"))]
let mut constraint = VelocityConstraint {
dir1: force_dir1,
@@ -188,6 +190,7 @@ impl VelocityConstraint {
elements: [VelocityConstraintElement::zero(); MAX_MANIFOLD_POINTS],
im1: mprops1.effective_inv_mass,
im2: mprops2.effective_inv_mass,
+ cfm_factor,
limit: 0.0,
mj_lambda1,
mj_lambda2,
@@ -235,6 +238,7 @@ impl VelocityConstraint {
}
constraint.im1 = mprops1.effective_inv_mass;
constraint.im2 = mprops2.effective_inv_mass;
+ constraint.cfm_factor = cfm_factor;
constraint.limit = 0.0;
constraint.mj_lambda1 = mj_lambda1;
constraint.mj_lambda2 = mj_lambda2;
@@ -280,10 +284,14 @@ impl VelocityConstraint {
let rhs_bias = /* is_resting
* */ erp_inv_dt
* (manifold_point.dist + params.allowed_linear_error).clamp(-params.max_penetration_correction, 0.0);
+
+ let rhs = rhs_wo_bias + rhs_bias;
+ is_fast_contact = is_fast_contact || (-rhs * params.dt > ccd_thickness * 0.5);
+
constraint.elements[k].normal_part = VelocityConstraintNormalPart {
gcross1,
gcross2,
- rhs: rhs_wo_bias + rhs_bias,
+ rhs,
rhs_wo_bias,
impulse: na::zero(),
r: projected_mass,
@@ -329,6 +337,8 @@ impl VelocityConstraint {
}
}
+ constraint.cfm_factor = if is_fast_contact { 1.0 } else { cfm_factor };
+
#[cfg(not(target_arch = "wasm32"))]
if let Some(at) = insert_at {
out_constraints[at + _l] = AnyVelocityConstraint::Nongrouped(constraint);
@@ -340,7 +350,6 @@ impl VelocityConstraint {
pub fn solve(
&mut self,
- cfm_factor: Real,
mj_lambdas: &mut [DeltaVel<Real>],
solve_normal: bool,
solve_friction: bool,
@@ -349,7 +358,7 @@ impl VelocityConstraint {
let mut mj_lambda2 = mj_lambdas[self.mj_lambda2 as usize];
VelocityConstraintElement::solve_group(
- cfm_factor,
+ self.cfm_factor,
&mut self.elements[..self.num_contacts as usize],
&self.dir1,
#[cfg(feature = "dim3")]
@@ -386,7 +395,8 @@ impl VelocityConstraint {
}
}
- pub fn remove_bias_from_rhs(&mut self) {
+ pub fn remove_cfm_and_bias_from_rhs(&mut self) {
+ self.cfm_factor = 1.0;
for elt in &mut self.elements {
elt.normal_part.rhs = elt.normal_part.rhs_wo_bias;
}
diff --git a/src/dynamics/solver/velocity_constraint_wide.rs b/src/dynamics/solver/velocity_constraint_wide.rs
index 68246da..b8e0a7e 100644
--- a/src/dynamics/solver/velocity_constraint_wide.rs
+++ b/src/dynamics/solver/velocity_constraint_wide.rs
@@ -12,6 +12,7 @@ use crate::math::{
use crate::utils::WBasis;
use crate::utils::{self, WAngularInertia, WCross, WDot};
use num::Zero;
+use parry::math::SimdBool;
use simba::simd::{SimdPartialOrd, SimdValue};
#[derive(Copy, Clone, Debug)]
@@ -23,6 +24,7 @@ pub(crate) struct WVelocityConstraint {
pub num_contacts: u8,
pub im1: Vector<SimdReal>,
pub im2: Vector<SimdReal>,
+ pub cfm_factor: SimdReal,
pub limit: SimdReal,
pub mj_lambda1: [usize; SIMD_WIDTH],
pub mj_lambda2: [usize; SIMD_WIDTH],
@@ -43,6 +45,8 @@ impl WVelocityConstraint {
assert_eq!(manifolds[ii].data.relative_dominance, 0);
}
+ let cfm_factor = SimdReal::splat(params.cfm_factor());
+ let dt = SimdReal::splat(params.dt);
let inv_dt = SimdReal::splat(params.inv_dt());
let allowed_lin_err = SimdReal::splat(params.allowed_linear_error);
let erp_inv_dt = SimdReal::splat(params.erp_inv_dt());
@@ -58,6 +62,10 @@ impl WVelocityConstraint {
let mprops1: [&RigidBodyMassProps; SIMD_WIDTH] = gather![|ii| &bodies[handles1[ii]].mprops];
let mprops2: [&RigidBodyMassProps; SIMD_WIDTH] = gather![|ii| &bodies[handles2[ii]].mprops];
+ let ccd_thickness1 = SimdReal::from(gather![|ii| bodies[handles1[ii]].ccd.ccd_thickness]);
+ let ccd_thickness2 = SimdReal::from(gather![|ii| bodies[handles2[ii]].ccd.ccd_thickness]);
+ let ccd_thickness = ccd_thickness1 + ccd_thickness2;
+
let world_com1 = Point::from(gather![|ii| mprops1[ii].world_com]);
let im1 = Vector::from(gather![|ii| mprops1[ii].effective_inv_mass]);
let ii1: AngularInertia<SimdReal> =
@@ -91,6 +99,7 @@ impl WVelocityConstraint {
gather![|ii| &manifolds[ii].data.solver_contacts[l..num_active_contacts]];
let num_points = manifold_points[0].len().min(MAX_MANIFOLD_POINTS);
+ let mut is_fast_contact = SimdBool::splat(false);
let mut constraint = WVelocityConstraint {
dir1: force_dir1,
#[cfg(feature = "dim3")]
@@ -98,6 +107,7 @@ impl WVelocityConstraint {
elements: [VelocityConstraintElement::zero(); MAX_MANIFOLD_POINTS],
im1,
im2,
+ cfm_factor,
limit: SimdReal::splat(0.0),
mj_lambda1,
mj_lambda2,
@@ -147,6 +157,10 @@ impl WVelocityConstraint {
.simd_clamp(-max_penetration_correction, SimdReal::zero())
* (erp_inv_dt/* * is_resting */);
+ let rhs = rhs_wo_bias + rhs_bias;
+ is_fast_contact =
+ is_fast_contact | (-rhs * dt).simd_gt(ccd_thickness * SimdReal::splat(0.5));
+
constraint.elements[k].normal_part = VelocityConstraintNormalPart {
gcross1,
gcross2,
@@ -189,6 +203,8 @@ impl WVelocityConstraint {
}
}
+ constraint.cfm_factor = SimdReal::splat(1.0).select(is_fast_contact, cfm_factor);
+
if let Some(at) = insert_at {
out_constraints[at + l / MAX_MANIFOLD_POINTS] =
AnyVelocityConstraint::Grouped(constraint);
@@ -200,7 +216,6 @@ impl WVelocityConstraint {
pub fn solve(
&mut self,
- cfm_factor: Real,
mj_lambdas: &mut [DeltaVel<Real>],
solve_normal: bool,
solve_friction: bool,
@@ -220,7 +235,7 @@ impl WVelocityConstraint {
};
VelocityConstraintElement::solve_group(
- SimdReal::splat(cfm_factor),
+ self.cfm_factor,
&mut self.elements[..self.num_contacts as usize],
&self.dir1,
#[cfg(feature = "dim3")]
@@ -270,7 +285,8 @@ impl WVelocityConstraint {
}
}
- pub fn remove_bias_from_rhs(&mut self) {
+ pub fn remove_cfm_and_bias_from_rhs(&mut self) {
+ self.cfm_factor = SimdReal::splat(1.0);
for elt in &mut self.elements {
elt.normal_part.rhs = elt.normal_part.rhs_wo_bias;
}
diff --git a/src/dynamics/solver/velocity_ground_constraint.rs b/src/dynamics/solver/velocity_ground_constraint.rs
index 39a2a19..19bf7e6 100644
--- a/src/dynamics/solver/velocity_ground_constraint.rs
+++ b/src/dynamics/solver/velocity_ground_constraint.rs
@@ -17,6 +17,7 @@ pub(crate) struct VelocityGroundConstraint {
#[cfg(feature = "dim3")]
pub tangent1: Vector<Real>, // One of the friction force directions.
pub im2: Vector<Real>,
+ pub cfm_factor: Real,
pub limit: Real,
pub elements: [VelocityGroundConstraintElement<Real>; MAX_MANIFOLD_POINTS],
@@ -34,6 +35,7 @@ impl VelocityGroundConstraint {
out_constraints: &mut Vec<AnyVelocityConstraint>,
insert_at: Option<usize>,
) {
+ let cfm_factor = params.cfm_factor();
let inv_dt = params.inv_dt();
let erp_inv_dt = params.erp_inv_dt();
@@ -80,6 +82,7 @@ impl VelocityGroundConstraint {
tangent1: tangents1[0],
elements: [VelocityGroundConstraintElement::zero(); MAX_MANIFOLD_POINTS],
im2: mprops2.effective_inv_mass,
+ cfm_factor,
limit: 0.0,
mj_lambda2,
manifold_id,
@@ -125,6 +128,7 @@ impl VelocityGroundConstraint {
constraint.tangent1 = tangents1[0];
}
constraint.im2 = mprops2.effective_inv_mass;
+ constraint.cfm_factor = cfm_factor;
constraint.limit = 0.0;
constraint.mj_lambda2 = mj_lambda2;
constraint.manifold_id = manifold_id;
@@ -132,6 +136,8 @@ impl VelocityGroundConstraint {
constraint.num_contacts = manifold_points.len() as u8;
}
+ let mut is_fast_contact = false;
+
for k in 0..manifold_points.len() {
let manifold_point = &manifold_points[k];
let dp2 = manifold_point.point - mprops2.world_com;
@@ -156,17 +162,21 @@ impl VelocityGroundConstraint {
let is_bouncy = manifold_point.is_bouncy() as u32 as Real;
let is_resting = 1.0 - is_bouncy;
- let mut rhs_wo_bias = (1.0 + is_bouncy * manifold_point.restitution)
- * (vel1 - vel2).dot(&force_dir1);
+ let dvel = (vel1 - vel2).dot(&force_dir1);
+ let mut rhs_wo_bias = (1.0 + is_bouncy * manifold_point.restitution) * dvel;
rhs_wo_bias += manifold_point.dist.max(0.0) * inv_dt;
rhs_wo_bias *= is_bouncy + is_resting;
let rhs_bias = /* is_resting
* */ erp_inv_dt
* (manifold_point.dist + params.allowed_linear_error).clamp(-params.max_penetration_correction, 0.0);
+ let rhs = rhs_wo_bias + rhs_bias;
+ is_fast_contact =
+ is_fast_contact || (-rhs * params.dt > rb2.ccd.ccd_thickness * 0.5);
+
constraint.elements[k].normal_part = VelocityGroundConstraintNormalPart {
gcross2,
- rhs: rhs_wo_bias + rhs_bias,
+ rhs,
rhs_wo_bias,
impulse: na::zero(),
r: projected_mass,
@@ -206,6 +216,8 @@ impl VelocityGroundConstraint {
}
}
+ constraint.cfm_factor = if is_fast_contact { 1.0 } else { cfm_factor };
+
#[cfg(not(target_arch = "wasm32"))]
if let Some(at) = insert_at {
out_constraints[at + _l] = AnyVelocityConstraint::NongroupedGround(constraint);
@@ -217,7 +229,6 @@ impl VelocityGroundConstraint {
pub fn solve(
&mut self,
- cfm_factor: Real,
mj_lambdas: &mut [DeltaVel<Real>],
solve_normal: bool,
solve_friction: bool,
@@ -225,7 +236,7 @@ impl VelocityGroundConstraint {
let mut mj_lambda2 = mj_lambdas[self.mj_lambda2 as usize];
VelocityGroundConstraintElement::solve_group(
- cfm_factor,
+ self.cfm_factor,
&mut self.elements[..self.num_contacts as usize],
&self.dir1,
#[cfg(feature = "dim3")]
@@ -260,7 +271,8 @@ impl VelocityGroundConstraint {
}
}
- pub fn remove_bias_from_rhs(&mut self) {
+ pub fn remove_cfm_and_bias_from_rhs(&mut self) {
+ self.cfm_factor = 1.0;
for elt in &mut self.elements {
elt.normal_part.rhs = elt.normal_part.rhs_wo_bias;
}
diff --git a/src/dynamics/solver/velocity_ground_constraint_wide.rs b/src/dynamics/solver/velocity_ground_constraint_wide.rs
index 37f4688..25bb30d 100644
--- a/src/dynamics/solver/velocity_ground_constraint_wide.rs
+++ b/src/dynamics/solver/velocity_ground_constraint_wide.rs
@@ -13,6 +13,7 @@ use crate::math::{
use crate::utils::WBasis;
use crate::utils::{self, WAngularInertia, WCross, WDot};
use num::Zero;
+use parry::math::SimdBool;
use simba::simd::{SimdPartialOrd, SimdValue};
#[derive(Copy, Clone, Debug)]
@@ -23,6 +24,7 @@ pub(crate) struct WVelocityGroundConstraint {
pub elements: [VelocityGroundConstraintElement<SimdReal>; MAX_MANIFOLD_POINTS],
pub num_contacts: u8,
pub im2: Vector<SimdReal>,
+ pub cfm_factor: SimdReal,
pub limit: SimdReal,
pub mj_lambda2: [usize; SIMD_WIDTH],
pub manifold_id: [ContactManifoldIndex; SIMD_WIDTH],
@@ -38,6 +40,8 @@ impl WVelocityGroundConstraint {
out_constraints: &mut Vec<AnyVelocityConstraint>,
insert_at: Option<usize>,
) {
+ let cfm_factor = SimdReal::splat(params.cfm_factor());
+ let dt = SimdReal::splat(params.dt);
let inv_dt = SimdReal::splat(params.inv_dt());
let allowed_lin_err = SimdReal::splat(params.allowed_linear_error);
let erp_inv_dt = SimdReal::splat(params.erp_inv_dt());
@@ -65,11 +69,12 @@ impl WVelocityGroundConstraint {
.unwrap_or_else(Point::origin)
}]);
- let vels2: [&RigidBodyVelocity; SIMD_WIDTH] =
- gather![|ii| &bodies[handles2[ii].unwrap()].vels];
- let ids2: [&RigidBodyIds; SIMD_WIDTH] = gather![|ii| &bodies[handles2[ii].unwrap()].ids];
- let mprops2: [&RigidBodyMassProps; SIMD_WIDTH] =
- gather![|ii| &bodies[handles2[ii].unwrap()].mprops];
+ let bodies2 = gather![|ii| &bodies[handles2[ii].unwrap()]];
+
+ let vels2: [&RigidBodyVelocity; SIMD_WIDTH] = gather![|ii| &bodies2[ii].vels];
+ let ids2: [&RigidBodyIds; SIMD_WIDTH] = gather![|ii| &bodies2[ii].ids];
+ let mprops2: [&RigidBodyMassProps; SIMD_WIDTH] = gather![|ii| &bodies2[ii].mprops];
+ let ccd_thickness = SimdReal::from(gather![|ii| bodies2[ii].ccd.ccd_thickness]);
let flipped_sign = SimdReal::from(flipped);
@@ -101,12 +106,14 @@ impl WVelocityGroundConstraint {
let manifold_points = gather![|ii| &manifolds[ii].data.solver_contacts[l..]];
let num_points = manifold_points[0].len().min(MAX_MANIFOLD_POINTS);
+ let mut is_fast_contact = SimdBool::splat(false);
let mut constraint = WVelocityGroundConstraint {
dir1: force_dir1,
#[cfg(feature = "dim3")]
tangent1: tangents1[0],
elements: [VelocityGroundConstraintElement::zero(); MAX_MANIFOLD_POINTS],
im2,
+ cfm_factor,
limit: SimdReal::splat(0.0),
mj_lambda2,
manifold_id,
@@ -152,9 +159,13 @@ impl WVelocityGroundConstraint {
.simd_clamp(-max_penetration_correction, SimdReal::zero())
* (erp_inv_dt/* * is_resting */);
+ let rhs = rhs_wo_bias + rhs_bias;
+ is_fast_contact =
+ is_fast_contact | (-rhs * dt).simd_gt(ccd_thickness * SimdReal::splat(0.5));
+
constraint.elements[k].normal_part = VelocityGroundConstraintNormalPart {
gcross2,
- rhs: rhs_wo_bias + rhs_bias,
+ rhs,
rhs_wo_bias,
impulse: na::zero(),
r: projected_mass,
@@ -187,6 +198,8 @@ impl WVelocityGroundConstraint {
}
}
+ constraint.cfm_factor = SimdReal::splat(1.0).select(is_fast_contact, cfm_factor);
+
if let Some(at) = insert_at {
out_constraints[at + l / MAX_MANIFOLD_POINTS] =
AnyVelocityConstraint::GroupedGround(constraint);
@@ -198,7 +211,6 @@ impl WVelocityGroundConstraint {
pub fn solve(
&mut self,
- cfm_factor: Real,
mj_lambdas: &mut [DeltaVel<Real>],
solve_normal: bool,
solve_friction: bool,
@@ -211,7 +223,7 @@ impl WVelocityGroundConstraint {
};
VelocityGroundConstraintElement::solve_group(
- SimdReal::splat(cfm_factor),
+ self.cfm_factor,
&mut self.elements[..self.num_contacts as usize],
&self.dir1,
#[cfg(feature = "dim3")]
@@ -256,7 +268,8 @@ impl WVelocityGroundConstraint {
}
}
- pub fn remove_bias_from_rhs(&mut self) {
+ pub fn remove_cfm_and_bias_from_rhs(&mut self) {
+ self.cfm_factor = SimdReal::splat(1.0);
for elt in &mut self.elements {
elt.normal_part.rhs = elt.normal_part.rhs_wo_bias;
}
diff --git a/src/dynamics/solver/velocity_solver.rs b/src/dynamics/solver/velocity_solver.rs
index d5dc77d..d15ea68 100644
--- a/src/dynamics/solver/velocity_solver.rs
+++ b/src/dynamics/solver/velocity_solver.rs
@@ -35,7 +35,6 @@ impl VelocitySolver {
joint_constraints: &mut [AnyJointVelocityConstraint],
generic_joint_jacobians: &DVector<Real>,
) {
- let cfm_factor = params.cfm_factor();
self.mj_lambdas.clear();
self.mj_lambdas
.resize(islands.active_island(island_id).len(), DeltaVel::zero());
@@ -86,7 +85,6 @@ impl VelocitySolver {
for constraint in &mut *contact_constraints {
constraint.solve(
- cfm_factor,
generic_contact_jacobians,
&mut self.mj_lambdas[..],
&mut self.generic_mj_lambdas,
@@ -98,7 +96,6 @@ impl VelocitySolver {
if solve_friction {
for constraint in &mut *contact_constraints {
constraint.solve(
- cfm_factor,
generic_contact_jacobians,
&mut self.mj_lambdas[..],
&mut self.generic_mj_lambdas,
@@ -121,7 +118,6 @@ impl VelocitySolver {
for _ in 0..remaining_friction_iterations {
for constraint in &mut *contact_constraints {
constraint.solve(
- cfm_factor,
generic_contact_jacobians,
&mut self.mj_lambdas[..],
&mut self.generic_mj_lambdas,
@@ -168,6 +164,7 @@ impl VelocitySolver {
&rb.pos.position,
&rb.mprops.local_mprops.local_com,
);
+ rb.integrated_vels = new_vels;
rb.pos = new_pos;
}
}
@@ -190,7 +187,6 @@ impl VelocitySolver {
for constraint in &mut *contact_constraints {
constraint.solve(
- 1.0,
generic_contact_jacobians,
&mut self.mj_lambdas[..],
&mut self.generic_mj_lambdas,
@@ -201,7 +197,6 @@ impl VelocitySolver {
for constraint in &mut *contact_constraints {
constraint.solve(
- 1.0,
generic_contact_jacobians,
&mut self.mj_lambdas[..],
&mut self.generic_mj_lambdas,
generated by cgit (git 2.34.1) at 2026-02-06 08:28:58 +0000