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|
use super::{
BallPositionConstraint, BallPositionGroundConstraint, FixedPositionConstraint,
FixedPositionGroundConstraint, PrismaticPositionConstraint, PrismaticPositionGroundConstraint,
};
#[cfg(feature = "dim3")]
use super::{RevolutePositionConstraint, RevolutePositionGroundConstraint};
#[cfg(feature = "simd-is-enabled")]
use super::{WBallPositionConstraint, WBallPositionGroundConstraint};
use crate::dynamics::{IntegrationParameters, Joint, JointParams, RigidBodySet};
use crate::math::Isometry;
#[cfg(feature = "simd-is-enabled")]
use crate::math::SIMD_WIDTH;
pub(crate) enum AnyJointPositionConstraint {
BallJoint(BallPositionConstraint),
BallGroundConstraint(BallPositionGroundConstraint),
#[cfg(feature = "simd-is-enabled")]
WBallJoint(WBallPositionConstraint),
#[cfg(feature = "simd-is-enabled")]
WBallGroundConstraint(WBallPositionGroundConstraint),
FixedJoint(FixedPositionConstraint),
FixedGroundConstraint(FixedPositionGroundConstraint),
PrismaticJoint(PrismaticPositionConstraint),
PrismaticGroundConstraint(PrismaticPositionGroundConstraint),
#[cfg(feature = "dim3")]
RevoluteJoint(RevolutePositionConstraint),
#[cfg(feature = "dim3")]
RevoluteGroundConstraint(RevolutePositionGroundConstraint),
#[allow(dead_code)] // The Empty variant is only used with parallel code.
Empty,
}
impl AnyJointPositionConstraint {
#[cfg(feature = "parallel")]
pub fn num_active_constraints(joint: &Joint, grouped: bool) -> usize {
#[cfg(feature = "simd-is-enabled")]
if !grouped {
1
} else {
match &joint.params {
JointParams::BallJoint(_) => 1,
_ => SIMD_WIDTH, // For joints that don't support SIMD position constraints yet.
}
}
#[cfg(not(feature = "simd-is-enabled"))]
{
1
}
}
pub fn from_joint(joint: &Joint, bodies: &RigidBodySet) -> Self {
let rb1 = &bodies[joint.body1];
let rb2 = &bodies[joint.body2];
match &joint.params {
JointParams::BallJoint(p) => AnyJointPositionConstraint::BallJoint(
BallPositionConstraint::from_params(rb1, rb2, p),
),
JointParams::FixedJoint(p) => AnyJointPositionConstraint::FixedJoint(
FixedPositionConstraint::from_params(rb1, rb2, p),
),
JointParams::PrismaticJoint(p) => AnyJointPositionConstraint::PrismaticJoint(
PrismaticPositionConstraint::from_params(rb1, rb2, p),
),
#[cfg(feature = "dim3")]
JointParams::RevoluteJoint(p) => AnyJointPositionConstraint::RevoluteJoint(
RevolutePositionConstraint::from_params(rb1, rb2, p),
),
}
}
#[cfg(feature = "simd-is-enabled")]
pub fn from_wide_joint(joints: [&Joint; SIMD_WIDTH], bodies: &RigidBodySet) -> Option<Self> {
let rbs1 = array![|ii| &bodies[joints[ii].body1]; SIMD_WIDTH];
let rbs2 = array![|ii| &bodies[joints[ii].body2]; SIMD_WIDTH];
match &joints[0].params {
JointParams::BallJoint(_) => {
let joints = array![|ii| joints[ii].params.as_ball_joint().unwrap(); SIMD_WIDTH];
Some(AnyJointPositionConstraint::WBallJoint(
WBallPositionConstraint::from_params(rbs1, rbs2, joints),
))
}
JointParams::FixedJoint(_) => None,
JointParams::PrismaticJoint(_) => None,
#[cfg(feature = "dim3")]
JointParams::RevoluteJoint(_) => None,
}
}
pub fn from_joint_ground(joint: &Joint, bodies: &RigidBodySet) -> Self {
let mut rb1 = &bodies[joint.body1];
let mut rb2 = &bodies[joint.body2];
let flipped = !rb2.is_dynamic();
if flipped {
std::mem::swap(&mut rb1, &mut rb2);
}
match &joint.params {
JointParams::BallJoint(p) => AnyJointPositionConstraint::BallGroundConstraint(
BallPositionGroundConstraint::from_params(rb1, rb2, p, flipped),
),
JointParams::FixedJoint(p) => AnyJointPositionConstraint::FixedGroundConstraint(
FixedPositionGroundConstraint::from_params(rb1, rb2, p, flipped),
),
JointParams::PrismaticJoint(p) => {
AnyJointPositionConstraint::PrismaticGroundConstraint(
PrismaticPositionGroundConstraint::from_params(rb1, rb2, p, flipped),
)
}
#[cfg(feature = "dim3")]
JointParams::RevoluteJoint(p) => AnyJointPositionConstraint::RevoluteGroundConstraint(
RevolutePositionGroundConstraint::from_params(rb1, rb2, p, flipped),
),
}
}
#[cfg(feature = "simd-is-enabled")]
pub fn from_wide_joint_ground(
joints: [&Joint; SIMD_WIDTH],
bodies: &RigidBodySet,
) -> Option<Self> {
let mut rbs1 = array![|ii| &bodies[joints[ii].body1]; SIMD_WIDTH];
let mut rbs2 = array![|ii| &bodies[joints[ii].body2]; SIMD_WIDTH];
let mut flipped = [false; SIMD_WIDTH];
for ii in 0..SIMD_WIDTH {
if !rbs2[ii].is_dynamic() {
std::mem::swap(&mut rbs1[ii], &mut rbs2[ii]);
flipped[ii] = true;
}
}
match &joints[0].params {
JointParams::BallJoint(_) => {
let joints = array![|ii| joints[ii].params.as_ball_joint().unwrap(); SIMD_WIDTH];
Some(AnyJointPositionConstraint::WBallGroundConstraint(
WBallPositionGroundConstraint::from_params(rbs1, rbs2, joints, flipped),
))
}
JointParams::FixedJoint(_) => None,
JointParams::PrismaticJoint(_) => None,
#[cfg(feature = "dim3")]
JointParams::RevoluteJoint(_) => None,
}
}
pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<f32>]) {
match self {
AnyJointPositionConstraint::BallJoint(c) => c.solve(params, positions),
AnyJointPositionConstraint::BallGroundConstraint(c) => c.solve(params, positions),
#[cfg(feature = "simd-is-enabled")]
AnyJointPositionConstraint::WBallJoint(c) => c.solve(params, positions),
#[cfg(feature = "simd-is-enabled")]
AnyJointPositionConstraint::WBallGroundConstraint(c) => c.solve(params, positions),
AnyJointPositionConstraint::FixedJoint(c) => c.solve(params, positions),
AnyJointPositionConstraint::FixedGroundConstraint(c) => c.solve(params, positions),
AnyJointPositionConstraint::PrismaticJoint(c) => c.solve(params, positions),
AnyJointPositionConstraint::PrismaticGroundConstraint(c) => c.solve(params, positions),
#[cfg(feature = "dim3")]
AnyJointPositionConstraint::RevoluteJoint(c) => c.solve(params, positions),
#[cfg(feature = "dim3")]
AnyJointPositionConstraint::RevoluteGroundConstraint(c) => c.solve(params, positions),
AnyJointPositionConstraint::Empty => unreachable!(),
}
}
}
|
