From 9bf1321f8f1d2e116f44c2461a53f302c4ef4171 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Tue, 8 Dec 2020 17:31:49 +0100 Subject: Outsource the contact manifold, SAT, and some shapes. --- src/dynamics/solver/position_ground_constraint.rs | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) (limited to 'src/dynamics/solver/position_ground_constraint.rs') diff --git a/src/dynamics/solver/position_ground_constraint.rs b/src/dynamics/solver/position_ground_constraint.rs index dcd2d64..7a15f3e 100644 --- a/src/dynamics/solver/position_ground_constraint.rs +++ b/src/dynamics/solver/position_ground_constraint.rs @@ -28,8 +28,8 @@ impl PositionGroundConstraint { out_constraints: &mut Vec, push: bool, ) { - let mut rb1 = &bodies[manifold.body_pair.body1]; - let mut rb2 = &bodies[manifold.body_pair.body2]; + let mut rb1 = &bodies[manifold.data.body_pair.body1]; + let mut rb2 = &bodies[manifold.data.body_pair.body2]; let flip = !rb2.is_dynamic(); let local_n1; @@ -41,13 +41,13 @@ impl PositionGroundConstraint { std::mem::swap(&mut rb1, &mut rb2); local_n1 = manifold.local_n2; local_n2 = manifold.local_n1; - delta1 = &manifold.delta2; - delta2 = &manifold.delta1; + delta1 = &manifold.data.delta2; + delta2 = &manifold.data.delta1; } else { local_n1 = manifold.local_n1; local_n2 = manifold.local_n2; - delta1 = &manifold.delta1; - delta2 = &manifold.delta2; + delta1 = &manifold.data.delta1; + delta2 = &manifold.data.delta2; }; let coll_pos1 = rb1.position * delta1; @@ -105,10 +105,10 @@ impl PositionGroundConstraint { } } else { if manifold.kinematics.category == KinematicsCategory::PointPoint { - out_constraints[manifold.constraint_index + l] = + out_constraints[manifold.data.constraint_index + l] = AnyPositionConstraint::NongroupedPointPointGround(constraint); } else { - out_constraints[manifold.constraint_index + l] = + out_constraints[manifold.data.constraint_index + l] = AnyPositionConstraint::NongroupedPlanePointGround(constraint); } } -- cgit From 43628c8846c8805d2f835dda4182b7240292900c Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Wed, 30 Dec 2020 17:30:07 +0100 Subject: Try using solver contacts again, but in a more cache-coherent way. --- src/dynamics/solver/position_ground_constraint.rs | 62 +++++++---------------- 1 file changed, 18 insertions(+), 44 deletions(-) (limited to 'src/dynamics/solver/position_ground_constraint.rs') diff --git a/src/dynamics/solver/position_ground_constraint.rs b/src/dynamics/solver/position_ground_constraint.rs index 7a15f3e..ada41e8 100644 --- a/src/dynamics/solver/position_ground_constraint.rs +++ b/src/dynamics/solver/position_ground_constraint.rs @@ -11,9 +11,9 @@ pub(crate) struct PositionGroundConstraint { // NOTE: the points are relative to the center of masses. pub p1: [Point; MAX_MANIFOLD_POINTS], pub local_p2: [Point; MAX_MANIFOLD_POINTS], + pub dists: [f32; MAX_MANIFOLD_POINTS], pub n1: Vector, pub num_contacts: u8, - pub radius: f32, pub im2: f32, pub ii2: AngularInertia, pub erp: f32, @@ -32,52 +32,26 @@ impl PositionGroundConstraint { let mut rb2 = &bodies[manifold.data.body_pair.body2]; let flip = !rb2.is_dynamic(); - let local_n1; - let local_n2; - let delta1; - let delta2; - - if flip { + let n1 = if flip { std::mem::swap(&mut rb1, &mut rb2); - local_n1 = manifold.local_n2; - local_n2 = manifold.local_n1; - delta1 = &manifold.data.delta2; - delta2 = &manifold.data.delta1; + -manifold.data.normal } else { - local_n1 = manifold.local_n1; - local_n2 = manifold.local_n2; - delta1 = &manifold.data.delta1; - delta2 = &manifold.data.delta2; + manifold.data.normal }; - let coll_pos1 = rb1.position * delta1; - let shift1 = local_n1 * -manifold.kinematics.radius1; - let shift2 = local_n2 * -manifold.kinematics.radius2; - let n1 = coll_pos1 * local_n1; - let radius = - manifold.kinematics.radius1 + manifold.kinematics.radius2 /* - params.allowed_linear_error */; - - for (l, manifold_contacts) in manifold - .active_contacts() - .chunks(MAX_MANIFOLD_POINTS) - .enumerate() - { + let active_contacts = &manifold.data.solver_contacts[..manifold.num_active_contacts]; + + for (l, manifold_contacts) in active_contacts.chunks(MAX_MANIFOLD_POINTS).enumerate() { let mut p1 = [Point::origin(); MAX_MANIFOLD_POINTS]; let mut local_p2 = [Point::origin(); MAX_MANIFOLD_POINTS]; - - if flip { - // Don't forget that we already swapped rb1 and rb2 above. - // So if we flip, only manifold_contacts[k].{local_p1,local_p2} have to - // be swapped. - for k in 0..manifold_contacts.len() { - p1[k] = coll_pos1 * (manifold_contacts[k].local_p2 + shift1); - local_p2[k] = delta2 * (manifold_contacts[k].local_p1 + shift2); - } - } else { - for k in 0..manifold_contacts.len() { - p1[k] = coll_pos1 * (manifold_contacts[k].local_p1 + shift1); - local_p2[k] = delta2 * (manifold_contacts[k].local_p2 + shift2); - } + let mut dists = [0.0; MAX_MANIFOLD_POINTS]; + + for k in 0..manifold_contacts.len() { + p1[k] = manifold_contacts[k].point; + local_p2[k] = rb2 + .position + .inverse_transform_point(&manifold_contacts[k].point); + dists[k] = manifold_contacts[k].dist; } let constraint = PositionGroundConstraint { @@ -85,7 +59,7 @@ impl PositionGroundConstraint { p1, local_p2, n1, - radius, + dists, im2: rb2.mass_properties.inv_mass, ii2: rb2.world_inv_inertia_sqrt.squared(), num_contacts: manifold_contacts.len() as u8, @@ -123,9 +97,9 @@ impl PositionGroundConstraint { // Compute jacobians. let mut pos2 = positions[self.rb2]; let allowed_err = params.allowed_linear_error; - let target_dist = self.radius - allowed_err; for k in 0..self.num_contacts as usize { + let target_dist = -self.dists[k] - allowed_err; let p1 = self.p1[k]; let p2 = pos2 * self.local_p2[k]; let dpos = p2 - p1; @@ -165,9 +139,9 @@ impl PositionGroundConstraint { // Compute jacobians. let mut pos2 = positions[self.rb2]; let allowed_err = params.allowed_linear_error; - let target_dist = self.radius - allowed_err; for k in 0..self.num_contacts as usize { + let target_dist = -self.dists[k] - allowed_err; let n1 = self.n1; let p1 = self.p1[k]; let p2 = pos2 * self.local_p2[k]; -- cgit From 348a339fe350aff6d885cb5a857a0bb6afbea990 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Thu, 31 Dec 2020 10:02:51 +0100 Subject: Remove code related to point-point kinematics. --- src/dynamics/solver/position_ground_constraint.rs | 68 ++--------------------- 1 file changed, 5 insertions(+), 63 deletions(-) (limited to 'src/dynamics/solver/position_ground_constraint.rs') diff --git a/src/dynamics/solver/position_ground_constraint.rs b/src/dynamics/solver/position_ground_constraint.rs index ada41e8..80175fe 100644 --- a/src/dynamics/solver/position_ground_constraint.rs +++ b/src/dynamics/solver/position_ground_constraint.rs @@ -1,6 +1,6 @@ use super::AnyPositionConstraint; use crate::dynamics::{IntegrationParameters, RigidBodySet}; -use crate::geometry::{ContactManifold, KinematicsCategory}; +use crate::geometry::ContactManifold; use crate::math::{ AngularInertia, Isometry, Point, Rotation, Translation, Vector, MAX_MANIFOLD_POINTS, }; @@ -68,73 +68,15 @@ impl PositionGroundConstraint { }; if push { - if manifold.kinematics.category == KinematicsCategory::PointPoint { - out_constraints.push(AnyPositionConstraint::NongroupedPointPointGround( - constraint, - )); - } else { - out_constraints.push(AnyPositionConstraint::NongroupedPlanePointGround( - constraint, - )); - } + out_constraints.push(AnyPositionConstraint::NonGroupedGround(constraint)); } else { - if manifold.kinematics.category == KinematicsCategory::PointPoint { - out_constraints[manifold.data.constraint_index + l] = - AnyPositionConstraint::NongroupedPointPointGround(constraint); - } else { - out_constraints[manifold.data.constraint_index + l] = - AnyPositionConstraint::NongroupedPlanePointGround(constraint); - } + out_constraints[manifold.data.constraint_index + l] = + AnyPositionConstraint::NonGroupedGround(constraint); } } } - pub fn solve_point_point( - &self, - params: &IntegrationParameters, - positions: &mut [Isometry], - ) { - // FIXME: can we avoid most of the multiplications by pos1/pos2? - // Compute jacobians. - let mut pos2 = positions[self.rb2]; - let allowed_err = params.allowed_linear_error; - for k in 0..self.num_contacts as usize { - let target_dist = -self.dists[k] - allowed_err; - let p1 = self.p1[k]; - let p2 = pos2 * self.local_p2[k]; - let dpos = p2 - p1; - - let sqdist = dpos.norm_squared(); - - // NOTE: only works for the point-point case. - if sqdist < target_dist * target_dist { - let dist = sqdist.sqrt(); - let n = dpos / dist; - let err = ((dist - target_dist) * self.erp).max(-self.max_linear_correction); - 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. - let tra2 = Translation::from(n * (-impulse * self.im2)); - let rot2 = Rotation::new(ii_gcross2 * impulse); - pos2 = Isometry::from_parts(tra2 * pos2.translation, rot2 * pos2.rotation); - } - } - - positions[self.rb2] = pos2; - } - - pub fn solve_plane_point( - &self, - params: &IntegrationParameters, - positions: &mut [Isometry], - ) { + pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry]) { // FIXME: can we avoid most of the multiplications by pos1/pos2? // Compute jacobians. let mut pos2 = positions[self.rb2]; -- cgit From 967145a9492175be59e8db33299b1687d69d84e2 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Thu, 31 Dec 2020 11:16:03 +0100 Subject: Perform contact sorting in the narrow-phase directly. --- src/dynamics/solver/position_ground_constraint.rs | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) (limited to 'src/dynamics/solver/position_ground_constraint.rs') diff --git a/src/dynamics/solver/position_ground_constraint.rs b/src/dynamics/solver/position_ground_constraint.rs index 80175fe..fcfdcdb 100644 --- a/src/dynamics/solver/position_ground_constraint.rs +++ b/src/dynamics/solver/position_ground_constraint.rs @@ -39,9 +39,12 @@ impl PositionGroundConstraint { manifold.data.normal }; - let active_contacts = &manifold.data.solver_contacts[..manifold.num_active_contacts]; - - for (l, manifold_contacts) in active_contacts.chunks(MAX_MANIFOLD_POINTS).enumerate() { + for (l, manifold_contacts) in manifold + .data + .solver_contacts + .chunks(MAX_MANIFOLD_POINTS) + .enumerate() + { let mut p1 = [Point::origin(); MAX_MANIFOLD_POINTS]; let mut local_p2 = [Point::origin(); MAX_MANIFOLD_POINTS]; let mut dists = [0.0; MAX_MANIFOLD_POINTS]; -- cgit From aa61fe65e3ff0289ecab57b4053a3410cf6d4a87 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Mon, 4 Jan 2021 15:14:25 +0100 Subject: Add support of 64-bits reals. --- src/dynamics/solver/position_ground_constraint.rs | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) (limited to 'src/dynamics/solver/position_ground_constraint.rs') diff --git a/src/dynamics/solver/position_ground_constraint.rs b/src/dynamics/solver/position_ground_constraint.rs index fcfdcdb..a8523f5 100644 --- a/src/dynamics/solver/position_ground_constraint.rs +++ b/src/dynamics/solver/position_ground_constraint.rs @@ -2,22 +2,22 @@ use super::AnyPositionConstraint; use crate::dynamics::{IntegrationParameters, RigidBodySet}; use crate::geometry::ContactManifold; use crate::math::{ - AngularInertia, Isometry, Point, Rotation, Translation, Vector, MAX_MANIFOLD_POINTS, + AngularInertia, Isometry, Point, Real, Rotation, Translation, Vector, MAX_MANIFOLD_POINTS, }; use crate::utils::{WAngularInertia, WCross, WDot}; pub(crate) struct PositionGroundConstraint { pub rb2: usize, // NOTE: the points are relative to the center of masses. - pub p1: [Point; MAX_MANIFOLD_POINTS], - pub local_p2: [Point; MAX_MANIFOLD_POINTS], - pub dists: [f32; MAX_MANIFOLD_POINTS], - pub n1: Vector, + pub p1: [Point; MAX_MANIFOLD_POINTS], + pub local_p2: [Point; MAX_MANIFOLD_POINTS], + pub dists: [Real; MAX_MANIFOLD_POINTS], + pub n1: Vector, pub num_contacts: u8, - pub im2: f32, - pub ii2: AngularInertia, - pub erp: f32, - pub max_linear_correction: f32, + pub im2: Real, + pub ii2: AngularInertia, + pub erp: Real, + pub max_linear_correction: Real, } impl PositionGroundConstraint { @@ -79,7 +79,7 @@ impl PositionGroundConstraint { } } - pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry]) { + pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry]) { // FIXME: can we avoid most of the multiplications by pos1/pos2? // Compute jacobians. let mut pos2 = positions[self.rb2]; -- cgit From 8f330b2a00610e5b68c1acd9208120e8f750c7aa Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Thu, 21 Jan 2021 14:58:40 +0100 Subject: Rotation locking: apply filter only to the world inertia properties to fix the multi-collider case. --- src/dynamics/solver/position_ground_constraint.rs | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'src/dynamics/solver/position_ground_constraint.rs') diff --git a/src/dynamics/solver/position_ground_constraint.rs b/src/dynamics/solver/position_ground_constraint.rs index a8523f5..4ab07eb 100644 --- a/src/dynamics/solver/position_ground_constraint.rs +++ b/src/dynamics/solver/position_ground_constraint.rs @@ -63,8 +63,8 @@ impl PositionGroundConstraint { local_p2, n1, dists, - im2: rb2.mass_properties.inv_mass, - ii2: rb2.world_inv_inertia_sqrt.squared(), + im2: rb2.effective_inv_mass, + ii2: rb2.effective_world_inv_inertia_sqrt.squared(), num_contacts: manifold_contacts.len() as u8, erp: params.erp, max_linear_correction: params.max_linear_correction, -- cgit