From 6ce26f3818492682a8572c895264f1e63f94b9d5 Mon Sep 17 00:00:00 2001 From: Sébastien Crozet Date: Mon, 30 May 2022 18:21:35 +0200 Subject: CCD improvements MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - Fix bug where the CCD thickness wasn’t initialized properly. - Fix bug where the contact compliance would result in unwanted tunelling, despite CCD being enabled. --- src/dynamics/ccd/ccd_solver.rs | 34 +++++++++++++++------- src/dynamics/ccd/toi_entry.rs | 34 +++++++++++++++------- src/dynamics/rigid_body.rs | 5 ++++ src/dynamics/rigid_body_components.rs | 2 +- src/dynamics/solver/generic_velocity_constraint.rs | 9 +++++- .../solver/generic_velocity_ground_constraint.rs | 12 ++++++-- src/dynamics/solver/velocity_constraint.rs | 10 ++++++- src/dynamics/solver/velocity_constraint_element.rs | 4 ++- src/dynamics/solver/velocity_constraint_wide.rs | 11 +++++++ src/dynamics/solver/velocity_ground_constraint.rs | 12 ++++++-- .../solver/velocity_ground_constraint_element.rs | 4 ++- .../solver/velocity_ground_constraint_wide.rs | 21 +++++++++---- src/dynamics/solver/velocity_solver.rs | 1 + 13 files changed, 122 insertions(+), 37 deletions(-) (limited to 'src/dynamics') diff --git a/src/dynamics/ccd/ccd_solver.rs b/src/dynamics/ccd/ccd_solver.rs index bdde135..9e0ab8e 100644 --- a/src/dynamics/ccd/ccd_solver.rs +++ b/src/dynamics/ccd/ccd_solver.rs @@ -60,12 +60,20 @@ impl CCDSolver { let min_toi = (rb.ccd.ccd_thickness * 0.15 - * crate::utils::inv(rb.ccd.max_point_velocity(&rb.vels))) + * crate::utils::inv(rb.ccd.max_point_velocity(&rb.integrated_vels))) .min(dt); - // println!("Min toi: {}, Toi: {}", min_toi, toi); - let new_pos = rb - .vels - .integrate(toi.max(min_toi), &rb.pos.position, &local_com); + // println!( + // "Min toi: {}, Toi: {}, thick: {}, max_vel: {}", + // min_toi, + // toi, + // rb.ccd.ccd_thickness, + // rb.ccd.max_point_velocity(&rb.integrated_vels) + // ); + let new_pos = rb.integrated_vels.integrate( + toi.max(min_toi), + &rb.pos.position, + &local_com, + ); rb.pos.next_position = new_pos; } } @@ -95,7 +103,7 @@ impl CCDSolver { } else { None }; - let moving_fast = rb.ccd.is_moving_fast(dt, &rb.vels, forces); + let moving_fast = rb.ccd.is_moving_fast(dt, &rb.integrated_vels, forces); rb.ccd.ccd_active = moving_fast; ccd_active = ccd_active || moving_fast; } @@ -131,7 +139,7 @@ impl CCDSolver { let predicted_body_pos1 = rb1.pos.integrate_forces_and_velocities( dt, &rb1.forces, - &rb1.vels, + &rb1.integrated_vels, &rb1.mprops, ); @@ -256,7 +264,7 @@ impl CCDSolver { let predicted_body_pos1 = rb1.pos.integrate_forces_and_velocities( dt, &rb1.forces, - &rb1.vels, + &rb1.integrated_vels, &rb1.mprops, ); @@ -491,7 +499,10 @@ impl CCDSolver { let local_com1 = &rb1.mprops.local_mprops.local_com; let frozen1 = frozen.get(&b1); let pos1 = frozen1 - .map(|t| rb1.vels.integrate(*t, &rb1.pos.position, local_com1)) + .map(|t| { + rb1.integrated_vels + .integrate(*t, &rb1.pos.position, local_com1) + }) .unwrap_or(rb1.pos.next_position); pos1 * co_parent1.pos_wrt_parent } else { @@ -504,7 +515,10 @@ impl CCDSolver { let local_com2 = &rb2.mprops.local_mprops.local_com; let frozen2 = frozen.get(&b2); let pos2 = frozen2 - .map(|t| rb2.vels.integrate(*t, &rb2.pos.position, local_com2)) + .map(|t| { + rb2.integrated_vels + .integrate(*t, &rb2.pos.position, local_com2) + }) .unwrap_or(rb2.pos.next_position); pos2 * co_parent2.pos_wrt_parent } else { diff --git a/src/dynamics/ccd/toi_entry.rs b/src/dynamics/ccd/toi_entry.rs index 4591825..6f5a47d 100644 --- a/src/dynamics/ccd/toi_entry.rs +++ b/src/dynamics/ccd/toi_entry.rs @@ -56,14 +56,14 @@ impl TOIEntry { return None; } - let linvel1 = - frozen1.is_none() as u32 as Real * rb1.map(|b| b.vels.linvel).unwrap_or(na::zero()); - let linvel2 = - frozen2.is_none() as u32 as Real * rb2.map(|b| b.vels.linvel).unwrap_or(na::zero()); - let angvel1 = - frozen1.is_none() as u32 as Real * rb1.map(|b| b.vels.angvel).unwrap_or(na::zero()); - let angvel2 = - frozen2.is_none() as u32 as Real * rb2.map(|b| b.vels.angvel).unwrap_or(na::zero()); + let linvel1 = frozen1.is_none() as u32 as Real + * rb1.map(|b| b.integrated_vels.linvel).unwrap_or(na::zero()); + let linvel2 = frozen2.is_none() as u32 as Real + * rb2.map(|b| b.integrated_vels.linvel).unwrap_or(na::zero()); + let angvel1 = frozen1.is_none() as u32 as Real + * rb1.map(|b| b.integrated_vels.angvel).unwrap_or(na::zero()); + let angvel2 = frozen2.is_none() as u32 as Real + * rb2.map(|b| b.integrated_vels.angvel).unwrap_or(na::zero()); #[cfg(feature = "dim2")] let vel12 = (linvel2 - linvel1).norm() @@ -114,6 +114,20 @@ impl TOIEntry { // because the colliders may be in a separating trajectory. let stop_at_penetration = is_pseudo_intersection_test; + // let pos12 = motion_c1 + // .position_at_time(start_time) + // .inv_mul(&motion_c2.position_at_time(start_time)); + // let vel12 = linvel2 - linvel1; + // let res_toi = query_dispatcher + // .time_of_impact( + // &pos12, + // &vel12, + // co1.shape.as_ref(), + // co2.shape.as_ref(), + // end_time - start_time, + // ) + // .ok(); + let res_toi = query_dispatcher .nonlinear_time_of_impact( &motion_c1, @@ -144,8 +158,8 @@ impl TOIEntry { NonlinearRigidMotion::new( rb.pos.position, rb.mprops.local_mprops.local_com, - rb.vels.linvel, - rb.vels.angvel, + rb.integrated_vels.linvel, + rb.integrated_vels.angvel, ) } else { NonlinearRigidMotion::constant_position(rb.pos.next_position) diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs index 24e9754..5eca5a2 100644 --- a/src/dynamics/rigid_body.rs +++ b/src/dynamics/rigid_body.rs @@ -19,6 +19,10 @@ use num::Zero; pub struct RigidBody { pub(crate) pos: RigidBodyPosition, pub(crate) mprops: RigidBodyMassProps, + // NOTE: we need this so that the CCD can use the actual velocities obtained + // by the velocity solver with bias. If we switch to intepolation, we + // should remove this field. + pub(crate) integrated_vels: RigidBodyVelocity, pub(crate) vels: RigidBodyVelocity, pub(crate) damping: RigidBodyDamping, pub(crate) forces: RigidBodyForces, @@ -47,6 +51,7 @@ impl RigidBody { Self { pos: RigidBodyPosition::default(), mprops: RigidBodyMassProps::default(), + integrated_vels: RigidBodyVelocity::default(), vels: RigidBodyVelocity::default(), damping: RigidBodyDamping::default(), forces: RigidBodyForces::default(), diff --git a/src/dynamics/rigid_body_components.rs b/src/dynamics/rigid_body_components.rs index b818ce2..3d35d17 100644 --- a/src/dynamics/rigid_body_components.rs +++ b/src/dynamics/rigid_body_components.rs @@ -752,7 +752,7 @@ pub struct RigidBodyCcd { impl Default for RigidBodyCcd { fn default() -> Self { Self { - ccd_thickness: 0.0, + ccd_thickness: Real::MAX, ccd_max_dist: 0.0, ccd_active: false, ccd_enabled: false, diff --git a/src/dynamics/solver/generic_velocity_constraint.rs b/src/dynamics/solver/generic_velocity_constraint.rs index 318727e..945590c 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, ) { + 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) @@ -196,13 +198,18 @@ 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; + let is_fast_contact = -rhs * params.dt > ccd_thickness * 0.5; + let cfm = if is_fast_contact { 1.0 } else { cfm_factor }; + constraint.elements[k].normal_part = VelocityConstraintNormalPart { gcross1, gcross2, - rhs: rhs_wo_bias + rhs_bias, + rhs, rhs_wo_bias, impulse: na::zero(), r, + cfm, }; } diff --git a/src/dynamics/solver/generic_velocity_ground_constraint.rs b/src/dynamics/solver/generic_velocity_ground_constraint.rs index 16648c4..24a9de5 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, ) { + let cfm_factor = params.cfm_factor(); let inv_dt = params.inv_dt(); let erp_inv_dt = params.erp_inv_dt(); @@ -130,19 +131,24 @@ 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; + let is_fast_contact = -rhs * params.dt > rb2.ccd.ccd_thickness * 0.5; + let cfm = if is_fast_contact { 1.0 } else { cfm_factor }; + 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, + cfm, }; } diff --git a/src/dynamics/solver/velocity_constraint.rs b/src/dynamics/solver/velocity_constraint.rs index 23d4b97..bfb1e9d 100644 --- a/src/dynamics/solver/velocity_constraint.rs +++ b/src/dynamics/solver/velocity_constraint.rs @@ -153,6 +153,7 @@ 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 +164,7 @@ 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; @@ -280,13 +282,19 @@ 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; + let is_fast_contact = -rhs * params.dt > ccd_thickness * 0.5; + let cfm = if is_fast_contact { 1.0 } else { cfm_factor }; + constraint.elements[k].normal_part = VelocityConstraintNormalPart { gcross1, gcross2, - rhs: rhs_wo_bias + rhs_bias, + rhs, rhs_wo_bias, impulse: na::zero(), r: projected_mass, + cfm, }; } diff --git a/src/dynamics/solver/velocity_constraint_element.rs b/src/dynamics/solver/velocity_constraint_element.rs index 30afef5..6c1006d 100644 --- a/src/dynamics/solver/velocity_constraint_element.rs +++ b/src/dynamics/solver/velocity_constraint_element.rs @@ -112,6 +112,7 @@ pub(crate) struct VelocityConstraintNormalPart { pub rhs_wo_bias: N, pub impulse: N, pub r: N, + pub cfm: N, } impl VelocityConstraintNormalPart { @@ -123,6 +124,7 @@ impl VelocityConstraintNormalPart { rhs_wo_bias: na::zero(), impulse: na::zero(), r: na::zero(), + cfm: na::one(), } } @@ -142,7 +144,7 @@ impl VelocityConstraintNormalPart { - dir1.dot(&mj_lambda2.linear) + self.gcross2.gdot(mj_lambda2.angular) + self.rhs; - let new_impulse = cfm_factor * (self.impulse - self.r * dvel).simd_max(N::zero()); + let new_impulse = self.cfm * (self.impulse - self.r * dvel).simd_max(N::zero()); let dlambda = new_impulse - self.impulse; self.impulse = new_impulse; diff --git a/src/dynamics/solver/velocity_constraint_wide.rs b/src/dynamics/solver/velocity_constraint_wide.rs index 68246da..f235ddc 100644 --- a/src/dynamics/solver/velocity_constraint_wide.rs +++ b/src/dynamics/solver/velocity_constraint_wide.rs @@ -43,6 +43,8 @@ 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 +60,10 @@ 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 = @@ -147,6 +153,10 @@ impl WVelocityConstraint { .simd_clamp(-max_penetration_correction, SimdReal::zero()) * (erp_inv_dt/* * is_resting */); + let rhs = rhs_wo_bias + rhs_bias; + let is_fast_contact = (-rhs * dt).simd_gt(ccd_thickness * SimdReal::splat(0.5)); + let cfm = SimdReal::splat(1.0).select(is_fast_contact, cfm_factor); + constraint.elements[k].normal_part = VelocityConstraintNormalPart { gcross1, gcross2, @@ -154,6 +164,7 @@ impl WVelocityConstraint { rhs_wo_bias, impulse: SimdReal::splat(0.0), r: projected_mass, + cfm, }; } diff --git a/src/dynamics/solver/velocity_ground_constraint.rs b/src/dynamics/solver/velocity_ground_constraint.rs index 39a2a19..99b71e0 100644 --- a/src/dynamics/solver/velocity_ground_constraint.rs +++ b/src/dynamics/solver/velocity_ground_constraint.rs @@ -34,6 +34,7 @@ impl VelocityGroundConstraint { out_constraints: &mut Vec, insert_at: Option, ) { + let cfm_factor = params.cfm_factor(); let inv_dt = params.inv_dt(); let erp_inv_dt = params.erp_inv_dt(); @@ -156,20 +157,25 @@ 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; + let is_fast_contact = -rhs * params.dt > rb2.ccd.ccd_thickness * 0.5; + let cfm = if is_fast_contact { 1.0 } else { cfm_factor }; + constraint.elements[k].normal_part = VelocityGroundConstraintNormalPart { gcross2, - rhs: rhs_wo_bias + rhs_bias, + rhs, rhs_wo_bias, impulse: na::zero(), r: projected_mass, + cfm, }; } diff --git a/src/dynamics/solver/velocity_ground_constraint_element.rs b/src/dynamics/solver/velocity_ground_constraint_element.rs index 06a727a..3b2ed86 100644 --- a/src/dynamics/solver/velocity_ground_constraint_element.rs +++ b/src/dynamics/solver/velocity_ground_constraint_element.rs @@ -93,6 +93,7 @@ pub(crate) struct VelocityGroundConstraintNormalPart { pub rhs_wo_bias: N, pub impulse: N, pub r: N, + pub cfm: N, } impl VelocityGroundConstraintNormalPart { @@ -103,6 +104,7 @@ impl VelocityGroundConstraintNormalPart { rhs_wo_bias: na::zero(), impulse: na::zero(), r: na::zero(), + cfm: na::one(), } } @@ -117,7 +119,7 @@ impl VelocityGroundConstraintNormalPart { AngVector: WDot, Result = N>, { let dvel = -dir1.dot(&mj_lambda2.linear) + self.gcross2.gdot(mj_lambda2.angular) + self.rhs; - let new_impulse = cfm_factor * (self.impulse - self.r * dvel).simd_max(N::zero()); + let new_impulse = self.cfm * (self.impulse - self.r * dvel).simd_max(N::zero()); let dlambda = new_impulse - self.impulse; self.impulse = new_impulse; diff --git a/src/dynamics/solver/velocity_ground_constraint_wide.rs b/src/dynamics/solver/velocity_ground_constraint_wide.rs index 37f4688..e0e7649 100644 --- a/src/dynamics/solver/velocity_ground_constraint_wide.rs +++ b/src/dynamics/solver/velocity_ground_constraint_wide.rs @@ -9,6 +9,7 @@ use crate::geometry::{ContactManifold, ContactManifoldIndex}; use crate::math::{ AngVector, AngularInertia, Point, Real, SimdReal, Vector, DIM, MAX_MANIFOLD_POINTS, SIMD_WIDTH, }; +use crate::prelude::RigidBody; #[cfg(feature = "dim2")] use crate::utils::WBasis; use crate::utils::{self, WAngularInertia, WCross, WDot}; @@ -38,6 +39,8 @@ impl WVelocityGroundConstraint { out_constraints: &mut Vec, insert_at: Option, ) { + 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 +68,12 @@ 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); @@ -152,12 +156,17 @@ impl WVelocityGroundConstraint { .simd_clamp(-max_penetration_correction, SimdReal::zero()) * (erp_inv_dt/* * is_resting */); + let rhs = rhs_wo_bias + rhs_bias; + let is_fast_contact = (-rhs * dt).simd_gt(ccd_thickness * SimdReal::splat(0.5)); + let cfm = SimdReal::splat(1.0).select(is_fast_contact, cfm_factor); + constraint.elements[k].normal_part = VelocityGroundConstraintNormalPart { gcross2, - rhs: rhs_wo_bias + rhs_bias, + rhs, rhs_wo_bias, impulse: na::zero(), r: projected_mass, + cfm, }; } diff --git a/src/dynamics/solver/velocity_solver.rs b/src/dynamics/solver/velocity_solver.rs index d5dc77d..ddd7086 100644 --- a/src/dynamics/solver/velocity_solver.rs +++ b/src/dynamics/solver/velocity_solver.rs @@ -168,6 +168,7 @@ impl VelocitySolver { &rb.pos.position, &rb.mprops.local_mprops.local_com, ); + rb.integrated_vels = new_vels; rb.pos = new_pos; } } -- cgit From ab8833f275ea5576ef2c1a3039459e81fcdb6f4d Mon Sep 17 00:00:00 2001 From: Sébastien Crozet Date: Mon, 30 May 2022 18:24:46 +0200 Subject: Add the option to automatically wake-up rigid-bodies a new joint is attached to --- .../joint/impulse_joint/impulse_joint_set.rs | 31 ++++++++------- .../joint/multibody_joint/multibody_joint_set.rs | 44 +++++++++------------- src/dynamics/rigid_body_set.rs | 4 +- 3 files changed, 37 insertions(+), 42 deletions(-) (limited to 'src/dynamics') diff --git a/src/dynamics/joint/impulse_joint/impulse_joint_set.rs b/src/dynamics/joint/impulse_joint/impulse_joint_set.rs index 0309cff..c4ec734 100644 --- a/src/dynamics/joint/impulse_joint/impulse_joint_set.rs +++ b/src/dynamics/joint/impulse_joint/impulse_joint_set.rs @@ -42,6 +42,7 @@ pub struct ImpulseJointSet { rb_graph_ids: Coarena, joint_ids: Arena, // Map joint handles to edge ids on the graph. joint_graph: InteractionGraph, + pub(crate) to_wake_up: Vec, // A set of rigid-body handles to wake-up during the next timestep. } impl ImpulseJointSet { @@ -51,6 +52,7 @@ impl ImpulseJointSet { rb_graph_ids: Coarena::new(), joint_ids: Arena::new(), joint_graph: InteractionGraph::new(), + to_wake_up: vec![], } } @@ -180,11 +182,15 @@ impl ImpulseJointSet { } /// Inserts a new joint into this set and retrieve its handle. + /// + /// If `wake_up` is set to `true`, then the bodies attached to this joint will be + /// automatically woken up during the next timestep. pub fn insert( &mut self, body1: RigidBodyHandle, body2: RigidBodyHandle, data: impl Into, + wake_up: bool, ) -> ImpulseJointHandle { let data = data.into(); let handle = self.joint_ids.insert(0.into()); @@ -217,6 +223,12 @@ impl ImpulseJointSet { } self.joint_ids[handle] = self.joint_graph.add_edge(graph_index1, graph_index2, joint); + + if wake_up { + self.to_wake_up.push(body1); + self.to_wake_up.push(body2); + } + ImpulseJointHandle(handle) } @@ -257,23 +269,16 @@ impl ImpulseJointSet { /// /// If `wake_up` is set to `true`, then the bodies attached to this joint will be /// automatically woken up. - pub fn remove( - &mut self, - handle: ImpulseJointHandle, - islands: &mut IslandManager, - bodies: &mut RigidBodySet, - wake_up: bool, - ) -> Option { + pub fn remove(&mut self, handle: ImpulseJointHandle, wake_up: bool) -> Option { let id = self.joint_ids.remove(handle.0)?; let endpoints = self.joint_graph.graph.edge_endpoints(id)?; if wake_up { - // Wake-up the bodies attached to this joint. if let Some(rb_handle) = self.joint_graph.graph.node_weight(endpoints.0) { - islands.wake_up(bodies, *rb_handle, true); + self.to_wake_up.push(*rb_handle); } if let Some(rb_handle) = self.joint_graph.graph.node_weight(endpoints.1) { - islands.wake_up(bodies, *rb_handle, true); + self.to_wake_up.push(*rb_handle); } } @@ -294,8 +299,6 @@ impl ImpulseJointSet { pub fn remove_joints_attached_to_rigid_body( &mut self, handle: RigidBodyHandle, - islands: &mut IslandManager, - bodies: &mut RigidBodySet, ) -> Vec { let mut deleted = vec![]; @@ -324,8 +327,8 @@ impl ImpulseJointSet { } // Wake up the attached bodies. - islands.wake_up(bodies, h1, true); - islands.wake_up(bodies, h2, true); + self.to_wake_up.push(h1); + self.to_wake_up.push(h2); } if let Some(other) = self.joint_graph.remove_node(deleted_id) { diff --git a/src/dynamics/joint/multibody_joint/multibody_joint_set.rs b/src/dynamics/joint/multibody_joint/multibody_joint_set.rs index 50a9438..fd2fa67 100644 --- a/src/dynamics/joint/multibody_joint/multibody_joint_set.rs +++ b/src/dynamics/joint/multibody_joint/multibody_joint_set.rs @@ -5,6 +5,7 @@ use crate::dynamics::{ }; use crate::geometry::{InteractionGraph, RigidBodyGraphIndex}; use crate::parry::partitioning::IndexedData; +use crate::prelude::RigidBody; /// The unique handle of an multibody_joint added to a `MultibodyJointSet`. #[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)] @@ -84,6 +85,7 @@ pub struct MultibodyJointSet { // NOTE: this is mostly for the island extraction. So perhaps we won’t need // that any more in the future when we improve our island builder. pub(crate) connectivity_graph: InteractionGraph, + pub(crate) to_wake_up: Vec, } impl MultibodyJointSet { @@ -93,6 +95,7 @@ impl MultibodyJointSet { multibodies: Arena::new(), rb2mb: Coarena::new(), connectivity_graph: InteractionGraph::new(), + to_wake_up: vec![], } } @@ -113,6 +116,7 @@ impl MultibodyJointSet { body1: RigidBodyHandle, body2: RigidBodyHandle, data: impl Into, + wake_up: bool, ) -> Option { let data = data.into(); let link1 = self.rb2mb.get(body1.0).copied().unwrap_or_else(|| { @@ -155,6 +159,11 @@ impl MultibodyJointSet { multibody1.append(mb2, link1.id, MultibodyJoint::new(data)); + if wake_up { + self.to_wake_up.push(body1); + self.to_wake_up.push(body2); + } + // Because each rigid-body can only have one parent link, // we can use the second rigid-body’s handle as the multibody_joint’s // handle. @@ -162,13 +171,7 @@ impl MultibodyJointSet { } /// Removes an multibody_joint from this set. - pub fn remove( - &mut self, - handle: MultibodyJointHandle, - islands: &mut IslandManager, - bodies: &mut RigidBodySet, - wake_up: bool, - ) { + pub fn remove(&mut self, handle: MultibodyJointHandle, wake_up: bool) { if let Some(removed) = self.rb2mb.get(handle.0).copied() { let multibody = self.multibodies.remove(removed.multibody.0).unwrap(); @@ -181,8 +184,8 @@ impl MultibodyJointSet { ); if wake_up { - islands.wake_up(bodies, RigidBodyHandle(handle.0), true); - islands.wake_up(bodies, parent_rb, true); + self.to_wake_up.push(RigidBodyHandle(handle.0)); + self.to_wake_up.push(parent_rb); } // TODO: remove the node if it no longer has any attached edges? @@ -211,13 +214,7 @@ impl MultibodyJointSet { } /// Removes all the multibody_joints from the multibody the given rigid-body is part of. - pub fn remove_multibody_articulations( - &mut self, - handle: RigidBodyHandle, - islands: &mut IslandManager, - bodies: &mut RigidBodySet, - wake_up: bool, - ) { + pub fn remove_multibody_articulations(&mut self, handle: RigidBodyHandle, wake_up: bool) { if let Some(removed) = self.rb2mb.get(handle.0).copied() { // Remove the multibody. let multibody = self.multibodies.remove(removed.multibody.0).unwrap(); @@ -225,7 +222,7 @@ impl MultibodyJointSet { let rb_handle = link.rigid_body; if wake_up { - islands.wake_up(bodies, rb_handle, true); + self.to_wake_up.push(rb_handle); } // Remove the rigid-body <-> multibody mapping for this link. @@ -239,12 +236,7 @@ impl MultibodyJointSet { } /// Removes all the multibody joints attached to a rigid-body. - pub fn remove_joints_attached_to_rigid_body( - &mut self, - rb_to_remove: RigidBodyHandle, - islands: &mut IslandManager, - bodies: &mut RigidBodySet, - ) { + pub fn remove_joints_attached_to_rigid_body(&mut self, rb_to_remove: RigidBodyHandle) { // TODO: optimize this. if let Some(link_to_remove) = self.rb2mb.get(rb_to_remove.0).copied() { let mut articulations_to_remove = vec![]; @@ -255,12 +247,12 @@ impl MultibodyJointSet { // There is a multibody_joint handle is equal to the second rigid-body’s handle. articulations_to_remove.push(MultibodyJointHandle(rb2.0)); - islands.wake_up(bodies, rb1, true); - islands.wake_up(bodies, rb2, true); + self.to_wake_up.push(rb1); + self.to_wake_up.push(rb2); } for articulation_handle in articulations_to_remove { - self.remove(articulation_handle, islands, bodies, true); + self.remove(articulation_handle, true); } } } diff --git a/src/dynamics/rigid_body_set.rs b/src/dynamics/rigid_body_set.rs index 62a6a54..cd8f30a 100644 --- a/src/dynamics/rigid_body_set.rs +++ b/src/dynamics/rigid_body_set.rs @@ -109,8 +109,8 @@ impl RigidBodySet { /* * Remove impulse_joints attached to this rigid-body. */ - impulse_joints.remove_joints_attached_to_rigid_body(handle, islands, self); - multibody_joints.remove_joints_attached_to_rigid_body(handle, islands, self); + impulse_joints.remove_joints_attached_to_rigid_body(handle); + multibody_joints.remove_joints_attached_to_rigid_body(handle); Some(rb) } -- cgit From fef84169830186bcde602140541c8e57a7cccc7e Mon Sep 17 00:00:00 2001 From: Sébastien Crozet Date: Mon, 30 May 2022 19:14:05 +0200 Subject: Move the cfm factor to the velocity constraints instead of the elements. --- .../joint/multibody_joint/multibody_joint_set.rs | 5 +-- src/dynamics/solver/generic_velocity_constraint.rs | 15 ++++---- .../solver/generic_velocity_ground_constraint.rs | 16 +++++---- src/dynamics/solver/velocity_constraint.rs | 40 ++++++++++++---------- src/dynamics/solver/velocity_constraint_element.rs | 4 +-- src/dynamics/solver/velocity_constraint_wide.rs | 17 +++++---- src/dynamics/solver/velocity_ground_constraint.rs | 19 ++++++---- .../solver/velocity_ground_constraint_element.rs | 4 +-- .../solver/velocity_ground_constraint_wide.rs | 18 ++++++---- src/dynamics/solver/velocity_solver.rs | 6 ---- 10 files changed, 76 insertions(+), 68 deletions(-) (limited to 'src/dynamics') diff --git a/src/dynamics/joint/multibody_joint/multibody_joint_set.rs b/src/dynamics/joint/multibody_joint/multibody_joint_set.rs index fd2fa67..f1b2ffe 100644 --- a/src/dynamics/joint/multibody_joint/multibody_joint_set.rs +++ b/src/dynamics/joint/multibody_joint/multibody_joint_set.rs @@ -1,11 +1,8 @@ use crate::data::{Arena, Coarena, Index}; use crate::dynamics::joint::MultibodyLink; -use crate::dynamics::{ - GenericJoint, IslandManager, Multibody, MultibodyJoint, RigidBodyHandle, RigidBodySet, -}; +use crate::dynamics::{GenericJoint, Multibody, MultibodyJoint, RigidBodyHandle}; use crate::geometry::{InteractionGraph, RigidBodyGraphIndex}; use crate::parry::partitioning::IndexedData; -use crate::prelude::RigidBody; /// The unique handle of an multibody_joint added to a `MultibodyJointSet`. #[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)] diff --git a/src/dynamics/solver/generic_velocity_constraint.rs b/src/dynamics/solver/generic_velocity_constraint.rs index 945590c..ed8c569 100644 --- a/src/dynamics/solver/generic_velocity_constraint.rs +++ b/src/dynamics/solver/generic_velocity_constraint.rs @@ -94,6 +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")] @@ -109,6 +110,7 @@ impl GenericVelocityConstraint { } else { na::zero() }, + cfm_factor, limit: 0.0, mj_lambda1, mj_lambda2, @@ -199,8 +201,7 @@ impl GenericVelocityConstraint { /* is_resting * */ erp_inv_dt * manifold_point.dist.clamp(-params.max_penetration_correction, 0.0); let rhs = rhs_wo_bias + rhs_bias; - let is_fast_contact = -rhs * params.dt > ccd_thickness * 0.5; - let cfm = if is_fast_contact { 1.0 } else { cfm_factor }; + is_fast_contact = is_fast_contact || (-rhs * params.dt > ccd_thickness * 0.5); constraint.elements[k].normal_part = VelocityConstraintNormalPart { gcross1, @@ -209,7 +210,6 @@ impl GenericVelocityConstraint { rhs_wo_bias, impulse: na::zero(), r, - cfm, }; } @@ -290,6 +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 @@ -317,7 +319,6 @@ impl GenericVelocityConstraint { pub fn solve( &mut self, - cfm_factor: Real, jacobians: &DVector, mj_lambdas: &mut [DeltaVel], generic_mj_lambdas: &mut DVector, @@ -339,7 +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, @@ -371,7 +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 24a9de5..91bb9fb 100644 --- a/src/dynamics/solver/generic_velocity_ground_constraint.rs +++ b/src/dynamics/solver/generic_velocity_ground_constraint.rs @@ -86,12 +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, @@ -139,8 +141,8 @@ impl GenericVelocityGroundConstraint { /* is_resting * */ erp_inv_dt * manifold_point.dist.clamp(-params.max_penetration_correction, 0.0); let rhs = rhs_wo_bias + rhs_bias; - let is_fast_contact = -rhs * params.dt > rb2.ccd.ccd_thickness * 0.5; - let cfm = if is_fast_contact { 1.0 } else { cfm_factor }; + 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. @@ -148,7 +150,6 @@ impl GenericVelocityGroundConstraint { rhs_wo_bias, impulse: na::zero(), r, - cfm, }; } @@ -187,6 +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, @@ -204,7 +207,6 @@ impl GenericVelocityGroundConstraint { pub fn solve( &mut self, - cfm_factor: Real, jacobians: &DVector, generic_mj_lambdas: &mut DVector, solve_restitution: bool, @@ -215,7 +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, @@ -232,7 +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/velocity_constraint.rs b/src/dynamics/solver/velocity_constraint.rs index bfb1e9d..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, mj_lambdas: &mut [DeltaVel], generic_mj_lambdas: &mut DVector, @@ -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, // One of the friction force directions. pub im1: Vector, pub im2: Vector, + pub cfm_factor: Real, pub limit: Real, pub mj_lambda1: usize, pub mj_lambda2: usize, @@ -182,6 +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, @@ -190,6 +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, @@ -237,6 +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; @@ -284,8 +286,7 @@ impl VelocityConstraint { * (manifold_point.dist + params.allowed_linear_error).clamp(-params.max_penetration_correction, 0.0); let rhs = rhs_wo_bias + rhs_bias; - let is_fast_contact = -rhs * params.dt > ccd_thickness * 0.5; - let cfm = if is_fast_contact { 1.0 } else { cfm_factor }; + is_fast_contact = is_fast_contact || (-rhs * params.dt > ccd_thickness * 0.5); constraint.elements[k].normal_part = VelocityConstraintNormalPart { gcross1, @@ -294,7 +295,6 @@ impl VelocityConstraint { rhs_wo_bias, impulse: na::zero(), r: projected_mass, - cfm, }; } @@ -337,6 +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); @@ -348,7 +350,6 @@ impl VelocityConstraint { pub fn solve( &mut self, - cfm_factor: Real, mj_lambdas: &mut [DeltaVel], solve_normal: bool, solve_friction: bool, @@ -357,7 +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")] @@ -394,7 +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_element.rs b/src/dynamics/solver/velocity_constraint_element.rs index 6c1006d..30afef5 100644 --- a/src/dynamics/solver/velocity_constraint_element.rs +++ b/src/dynamics/solver/velocity_constraint_element.rs @@ -112,7 +112,6 @@ pub(crate) struct VelocityConstraintNormalPart { pub rhs_wo_bias: N, pub impulse: N, pub r: N, - pub cfm: N, } impl VelocityConstraintNormalPart { @@ -124,7 +123,6 @@ impl VelocityConstraintNormalPart { rhs_wo_bias: na::zero(), impulse: na::zero(), r: na::zero(), - cfm: na::one(), } } @@ -144,7 +142,7 @@ impl VelocityConstraintNormalPart { - dir1.dot(&mj_lambda2.linear) + self.gcross2.gdot(mj_lambda2.angular) + self.rhs; - let new_impulse = self.cfm * (self.impulse - self.r * dvel).simd_max(N::zero()); + let new_impulse = cfm_factor * (self.impulse - self.r * dvel).simd_max(N::zero()); let dlambda = new_impulse - self.impulse; self.impulse = new_impulse; diff --git a/src/dynamics/solver/velocity_constraint_wide.rs b/src/dynamics/solver/velocity_constraint_wide.rs index f235ddc..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, pub im2: Vector, + pub cfm_factor: SimdReal, pub limit: SimdReal, pub mj_lambda1: [usize; SIMD_WIDTH], pub mj_lambda2: [usize; SIMD_WIDTH], @@ -97,6 +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")] @@ -104,6 +107,7 @@ impl WVelocityConstraint { elements: [VelocityConstraintElement::zero(); MAX_MANIFOLD_POINTS], im1, im2, + cfm_factor, limit: SimdReal::splat(0.0), mj_lambda1, mj_lambda2, @@ -154,8 +158,8 @@ impl WVelocityConstraint { * (erp_inv_dt/* * is_resting */); let rhs = rhs_wo_bias + rhs_bias; - let is_fast_contact = (-rhs * dt).simd_gt(ccd_thickness * SimdReal::splat(0.5)); - let cfm = SimdReal::splat(1.0).select(is_fast_contact, cfm_factor); + is_fast_contact = + is_fast_contact | (-rhs * dt).simd_gt(ccd_thickness * SimdReal::splat(0.5)); constraint.elements[k].normal_part = VelocityConstraintNormalPart { gcross1, @@ -164,7 +168,6 @@ impl WVelocityConstraint { rhs_wo_bias, impulse: SimdReal::splat(0.0), r: projected_mass, - cfm, }; } @@ -200,6 +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); @@ -211,7 +216,6 @@ impl WVelocityConstraint { pub fn solve( &mut self, - cfm_factor: Real, mj_lambdas: &mut [DeltaVel], solve_normal: bool, solve_friction: bool, @@ -231,7 +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")] @@ -281,7 +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 99b71e0..e574112 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, // One of the friction force directions. pub im2: Vector, + pub cfm_factor: Real, pub limit: Real, pub elements: [VelocityGroundConstraintElement; MAX_MANIFOLD_POINTS], @@ -81,6 +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, @@ -133,6 +135,8 @@ 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; @@ -166,8 +170,8 @@ impl VelocityGroundConstraint { * (manifold_point.dist + params.allowed_linear_error).clamp(-params.max_penetration_correction, 0.0); let rhs = rhs_wo_bias + rhs_bias; - let is_fast_contact = -rhs * params.dt > rb2.ccd.ccd_thickness * 0.5; - let cfm = if is_fast_contact { 1.0 } else { cfm_factor }; + is_fast_contact = + is_fast_contact || -rhs * params.dt > rb2.ccd.ccd_thickness * 0.5; constraint.elements[k].normal_part = VelocityGroundConstraintNormalPart { gcross2, @@ -175,7 +179,6 @@ impl VelocityGroundConstraint { rhs_wo_bias, impulse: na::zero(), r: projected_mass, - cfm, }; } @@ -212,6 +215,10 @@ impl VelocityGroundConstraint { } } + if is_fast_contact { + constraint.cfm_factor = 1.0; + } + #[cfg(not(target_arch = "wasm32"))] if let Some(at) = insert_at { out_constraints[at + _l] = AnyVelocityConstraint::NongroupedGround(constraint); @@ -223,7 +230,6 @@ impl VelocityGroundConstraint { pub fn solve( &mut self, - cfm_factor: Real, mj_lambdas: &mut [DeltaVel], solve_normal: bool, solve_friction: bool, @@ -231,7 +237,7 @@ 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")] @@ -266,7 +272,8 @@ 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_element.rs b/src/dynamics/solver/velocity_ground_constraint_element.rs index 3b2ed86..06a727a 100644 --- a/src/dynamics/solver/velocity_ground_constraint_element.rs +++ b/src/dynamics/solver/velocity_ground_constraint_element.rs @@ -93,7 +93,6 @@ pub(crate) struct VelocityGroundConstraintNormalPart { pub rhs_wo_bias: N, pub impulse: N, pub r: N, - pub cfm: N, } impl VelocityGroundConstraintNormalPart { @@ -104,7 +103,6 @@ impl VelocityGroundConstraintNormalPart { rhs_wo_bias: na::zero(), impulse: na::zero(), r: na::zero(), - cfm: na::one(), } } @@ -119,7 +117,7 @@ impl VelocityGroundConstraintNormalPart { AngVector: WDot, Result = N>, { let dvel = -dir1.dot(&mj_lambda2.linear) + self.gcross2.gdot(mj_lambda2.angular) + self.rhs; - let new_impulse = self.cfm * (self.impulse - self.r * dvel).simd_max(N::zero()); + let new_impulse = cfm_factor * (self.impulse - self.r * dvel).simd_max(N::zero()); let dlambda = new_impulse - self.impulse; self.impulse = new_impulse; diff --git a/src/dynamics/solver/velocity_ground_constraint_wide.rs b/src/dynamics/solver/velocity_ground_constraint_wide.rs index e0e7649..25bb30d 100644 --- a/src/dynamics/solver/velocity_ground_constraint_wide.rs +++ b/src/dynamics/solver/velocity_ground_constraint_wide.rs @@ -9,11 +9,11 @@ use crate::geometry::{ContactManifold, ContactManifoldIndex}; use crate::math::{ AngVector, AngularInertia, Point, Real, SimdReal, Vector, DIM, MAX_MANIFOLD_POINTS, SIMD_WIDTH, }; -use crate::prelude::RigidBody; #[cfg(feature = "dim2")] 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)] @@ -24,6 +24,7 @@ pub(crate) struct WVelocityGroundConstraint { pub elements: [VelocityGroundConstraintElement; MAX_MANIFOLD_POINTS], pub num_contacts: u8, pub im2: Vector, + pub cfm_factor: SimdReal, pub limit: SimdReal, pub mj_lambda2: [usize; SIMD_WIDTH], pub manifold_id: [ContactManifoldIndex; SIMD_WIDTH], @@ -105,12 +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, @@ -157,8 +160,8 @@ impl WVelocityGroundConstraint { * (erp_inv_dt/* * is_resting */); let rhs = rhs_wo_bias + rhs_bias; - let is_fast_contact = (-rhs * dt).simd_gt(ccd_thickness * SimdReal::splat(0.5)); - let cfm = SimdReal::splat(1.0).select(is_fast_contact, cfm_factor); + is_fast_contact = + is_fast_contact | (-rhs * dt).simd_gt(ccd_thickness * SimdReal::splat(0.5)); constraint.elements[k].normal_part = VelocityGroundConstraintNormalPart { gcross2, @@ -166,7 +169,6 @@ impl WVelocityGroundConstraint { rhs_wo_bias, impulse: na::zero(), r: projected_mass, - cfm, }; } @@ -196,6 +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); @@ -207,7 +211,6 @@ impl WVelocityGroundConstraint { pub fn solve( &mut self, - cfm_factor: Real, mj_lambdas: &mut [DeltaVel], solve_normal: bool, solve_friction: bool, @@ -220,7 +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")] @@ -265,7 +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 ddd7086..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, ) { - 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, @@ -191,7 +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, @@ -202,7 +197,6 @@ impl VelocitySolver { for constraint in &mut *contact_constraints