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use crate::dynamics::{BallJoint, IntegrationParameters, RigidBody};
#[cfg(feature = "dim2")]
use crate::math::SdpMatrix;
use crate::math::{AngularInertia, Isometry, Point, Rotation, SimdFloat, SIMD_WIDTH};
use crate::utils::{WAngularInertia, WCross, WCrossMatrix};
use simba::simd::SimdValue;
#[derive(Debug)]
pub(crate) struct WBallPositionConstraint {
position1: [usize; SIMD_WIDTH],
position2: [usize; SIMD_WIDTH],
local_com1: Point<SimdFloat>,
local_com2: Point<SimdFloat>,
im1: SimdFloat,
im2: SimdFloat,
ii1: AngularInertia<SimdFloat>,
ii2: AngularInertia<SimdFloat>,
local_anchor1: Point<SimdFloat>,
local_anchor2: Point<SimdFloat>,
}
impl WBallPositionConstraint {
pub fn from_params(
rbs1: [&RigidBody; SIMD_WIDTH],
rbs2: [&RigidBody; SIMD_WIDTH],
cparams: [&BallJoint; SIMD_WIDTH],
) -> Self {
let local_com1 = Point::from(array![|ii| rbs1[ii].mass_properties.local_com; SIMD_WIDTH]);
let local_com2 = Point::from(array![|ii| rbs2[ii].mass_properties.local_com; SIMD_WIDTH]);
let im1 = SimdFloat::from(array![|ii| rbs1[ii].mass_properties.inv_mass; SIMD_WIDTH]);
let im2 = SimdFloat::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
let ii1 = AngularInertia::<SimdFloat>::from(
array![|ii| rbs1[ii].world_inv_inertia_sqrt; SIMD_WIDTH],
)
.squared();
let ii2 = AngularInertia::<SimdFloat>::from(
array![|ii| rbs2[ii].world_inv_inertia_sqrt; SIMD_WIDTH],
)
.squared();
let local_anchor1 = Point::from(array![|ii| cparams[ii].local_anchor1; SIMD_WIDTH]);
let local_anchor2 = Point::from(array![|ii| cparams[ii].local_anchor2; SIMD_WIDTH]);
let position1 = array![|ii| rbs1[ii].active_set_offset; SIMD_WIDTH];
let position2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
Self {
local_com1,
local_com2,
im1,
im2,
ii1,
ii2,
local_anchor1,
local_anchor2,
position1,
position2,
}
}
pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<f32>]) {
let mut position1 = Isometry::from(array![|ii| positions[self.position1[ii]]; SIMD_WIDTH]);
let mut position2 = Isometry::from(array![|ii| positions[self.position2[ii]]; SIMD_WIDTH]);
let anchor1 = position1 * self.local_anchor1;
let anchor2 = position2 * self.local_anchor2;
let com1 = position1 * self.local_com1;
let com2 = position2 * self.local_com2;
let err = anchor1 - anchor2;
let centered_anchor1 = anchor1 - com1;
let centered_anchor2 = anchor2 - com2;
let cmat1 = centered_anchor1.gcross_matrix();
let cmat2 = centered_anchor2.gcross_matrix();
// NOTE: the -cmat1 is just a simpler way of doing cmat1.transpose()
// because it is anti-symmetric.
#[cfg(feature = "dim3")]
let lhs = self.ii1.quadform(&cmat1).add_diagonal(self.im1)
+ self.ii2.quadform(&cmat2).add_diagonal(self.im2);
// In 2D we just unroll the computation because
// it's just easier that way.
#[cfg(feature = "dim2")]
let lhs = {
let m11 =
self.im1 + self.im2 + cmat1.x * cmat1.x * self.ii1 + cmat2.x * cmat2.x * self.ii2;
let m12 = cmat1.x * cmat1.y * self.ii1 + cmat2.x * cmat2.y * self.ii2;
let m22 =
self.im1 + self.im2 + cmat1.y * cmat1.y * self.ii1 + cmat2.y * cmat2.y * self.ii2;
SdpMatrix::new(m11, m12, m22)
};
let inv_lhs = lhs.inverse_unchecked();
let impulse = inv_lhs * -(err * SimdFloat::splat(params.joint_erp));
position1.translation.vector += impulse * self.im1;
position2.translation.vector -= impulse * self.im2;
let angle1 = self.ii1.transform_vector(centered_anchor1.gcross(impulse));
let angle2 = self.ii2.transform_vector(centered_anchor2.gcross(-impulse));
position1.rotation = Rotation::new(angle1) * position1.rotation;
position2.rotation = Rotation::new(angle2) * position2.rotation;
for ii in 0..SIMD_WIDTH {
positions[self.position1[ii]] = position1.extract(ii);
}
for ii in 0..SIMD_WIDTH {
positions[self.position2[ii]] = position2.extract(ii);
}
}
}
#[derive(Debug)]
pub(crate) struct WBallPositionGroundConstraint {
position2: [usize; SIMD_WIDTH],
anchor1: Point<SimdFloat>,
im2: SimdFloat,
ii2: AngularInertia<SimdFloat>,
local_anchor2: Point<SimdFloat>,
local_com2: Point<SimdFloat>,
}
impl WBallPositionGroundConstraint {
pub fn from_params(
rbs1: [&RigidBody; SIMD_WIDTH],
rbs2: [&RigidBody; SIMD_WIDTH],
cparams: [&BallJoint; SIMD_WIDTH],
flipped: [bool; SIMD_WIDTH],
) -> Self {
let position1 = Isometry::from(array![|ii| rbs1[ii].predicted_position; SIMD_WIDTH]);
let anchor1 = position1
* Point::from(array![|ii| if flipped[ii] {
cparams[ii].local_anchor2
} else {
cparams[ii].local_anchor1
}; SIMD_WIDTH]);
let im2 = SimdFloat::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
let ii2 = AngularInertia::<SimdFloat>::from(
array![|ii| rbs2[ii].world_inv_inertia_sqrt; SIMD_WIDTH],
)
.squared();
let local_anchor2 = Point::from(array![|ii| if flipped[ii] {
cparams[ii].local_anchor1
} else {
cparams[ii].local_anchor2
}; SIMD_WIDTH]);
let position2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
let local_com2 = Point::from(array![|ii| rbs2[ii].mass_properties.local_com; SIMD_WIDTH]);
Self {
anchor1,
im2,
ii2,
local_anchor2,
position2,
local_com2,
}
}
pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<f32>]) {
let mut position2 = Isometry::from(array![|ii| positions[self.position2[ii]]; SIMD_WIDTH]);
let anchor2 = position2 * self.local_anchor2;
let com2 = position2 * self.local_com2;
let err = self.anchor1 - anchor2;
let centered_anchor2 = anchor2 - com2;
let cmat2 = centered_anchor2.gcross_matrix();
#[cfg(feature = "dim3")]
let lhs = self.ii2.quadform(&cmat2).add_diagonal(self.im2);
#[cfg(feature = "dim2")]
let lhs = {
let m11 = self.im2 + cmat2.x * cmat2.x * self.ii2;
let m12 = cmat2.x * cmat2.y * self.ii2;
let m22 = self.im2 + cmat2.y * cmat2.y
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