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|
use crate::dynamics::solver::{
VelocityGroundConstraintElement, VelocityGroundConstraintNormalPart,
VelocityGroundConstraintTangentPart,
};
use crate::math::{Real, DIM};
use na::DVector;
#[cfg(feature = "dim2")]
use na::SimdPartialOrd;
impl VelocityGroundConstraintTangentPart<Real> {
#[inline]
pub fn generic_solve(
&mut self,
j_id2: usize,
jacobians: &DVector<Real>,
ndofs2: usize,
limit: Real,
mj_lambda2: usize,
mj_lambdas: &mut DVector<Real>,
) {
#[cfg(feature = "dim2")]
{
let dvel_0 = jacobians
.rows(j_id2, ndofs2)
.dot(&mj_lambdas.rows(mj_lambda2, ndofs2))
+ self.rhs[0];
let new_impulse = (self.impulse[0] - self.r[0] * dvel_0).simd_clamp(-limit, limit);
let dlambda = new_impulse - self.impulse[0];
self.impulse[0] = new_impulse;
mj_lambdas.rows_mut(mj_lambda2, ndofs2).axpy(
dlambda,
&jacobians.rows(j_id2 + ndofs2, ndofs2),
1.0,
);
}
#[cfg(feature = "dim3")]
{
let j_step = ndofs2 * 2;
let dvel_0 = jacobians
.rows(j_id2, ndofs2)
.dot(&mj_lambdas.rows(mj_lambda2, ndofs2))
+ self.rhs[0];
let dvel_1 = jacobians
.rows(j_id2 + j_step, ndofs2)
.dot(&mj_lambdas.rows(mj_lambda2, ndofs2))
+ self.rhs[1];
let new_impulse = na::Vector2::new(
self.impulse[0] - self.r[0] * dvel_0,
self.impulse[1] - self.r[1] * dvel_1,
);
let new_impulse = new_impulse.cap_magnitude(limit);
let dlambda = new_impulse - self.impulse;
self.impulse = new_impulse;
mj_lambdas.rows_mut(mj_lambda2, ndofs2).axpy(
dlambda[0],
&jacobians.rows(j_id2 + ndofs2, ndofs2),
1.0,
);
mj_lambdas.rows_mut(mj_lambda2, ndofs2).axpy(
dlambda[1],
&jacobians.rows(j_id2 + j_step + ndofs2, ndofs2),
1.0,
);
}
}
}
impl VelocityGroundConstraintNormalPart<Real> {
#[inline]
pub fn generic_solve(
&mut self,
cfm_factor: Real,
j_id2: usize,
jacobians: &DVector<Real>,
ndofs2: usize,
mj_lambda2: usize,
mj_lambdas: &mut DVector<Real>,
) {
let dvel = jacobians
.rows(j_id2, ndofs2)
.dot(&mj_lambdas.rows(mj_lambda2, ndofs2))
+ self.rhs;
let new_impulse = cfm_factor * (self.impulse - self.r * dvel).max(0.0);
let dlambda = new_impulse - self.impulse;
self.impulse = new_impulse;
mj_lambdas.rows_mut(mj_lambda2, ndofs2).axpy(
dlambda,
&jacobians.rows(j_id2 + ndofs2, ndofs2),
1.0,
);
}
}
impl VelocityGroundConstraintElement<Real> {
#[inline]
pub fn generic_solve_group(
cfm_factor: Real,
elements: &mut [Self],
jacobians: &DVector<Real>,
limit: Real,
ndofs2: usize,
// Jacobian index of the first constraint.
j_id: usize,
mj_lambda2: usize,
mj_lambdas: &mut DVector<Real>,
solve_restitution: bool,
solve_friction: bool,
) {
let j_step = ndofs2 * 2 * DIM;
// Solve penetration.
if solve_restitution {
let mut nrm_j_id = j_id;
for element in elements.iter_mut() {
element.normal_part.generic_solve(
cfm_factor, nrm_j_id, jacobians, ndofs2, mj_lambda2, mj_lambdas,
);
nrm_j_id += j_step;
}
}
// Solve friction.
if solve_friction {
let mut tng_j_id = j_id + ndofs2 * 2;
for element in elements.iter_mut() {
let limit = limit * element.normal_part.impulse;
let part = &mut element.tangent_part;
part.generic_solve(tng_j_id, jacobians, ndofs2, limit, mj_lambda2, mj_lambdas);
tng_j_id += j_step;
}
}
}
}
|
