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|
use super::AnyPositionConstraint;
use crate::dynamics::{IntegrationParameters, RigidBodySet};
use crate::geometry::{ContactManifold, KinematicsCategory};
use crate::math::{
AngularInertia, Isometry, Point, Rotation, SimdFloat, Translation, Vector, MAX_MANIFOLD_POINTS,
SIMD_WIDTH,
};
use crate::utils::{WAngularInertia, WCross, WDot};
use num::Zero;
use simba::simd::{SimdBool as _, SimdComplexField, SimdPartialOrd, SimdValue};
pub(crate) struct WPositionConstraint {
pub rb1: [usize; SIMD_WIDTH],
pub rb2: [usize; SIMD_WIDTH],
// NOTE: the points are relative to the center of masses.
pub local_p1: [Point<SimdFloat>; MAX_MANIFOLD_POINTS],
pub local_p2: [Point<SimdFloat>; MAX_MANIFOLD_POINTS],
pub local_n1: Vector<SimdFloat>,
pub radius: SimdFloat,
pub im1: SimdFloat,
pub im2: SimdFloat,
pub ii1: AngularInertia<SimdFloat>,
pub ii2: AngularInertia<SimdFloat>,
pub erp: SimdFloat,
pub max_linear_correction: SimdFloat,
pub num_contacts: u8,
}
impl WPositionConstraint {
pub fn generate(
params: &IntegrationParameters,
manifolds: [&ContactManifold; SIMD_WIDTH],
bodies: &RigidBodySet,
out_constraints: &mut Vec<AnyPositionConstraint>,
push: bool,
) {
let rbs1 = array![|ii| bodies.get(manifolds[ii].body_pair.body1).unwrap(); SIMD_WIDTH];
let rbs2 = array![|ii| bodies.get(manifolds[ii].body_pair.body2).unwrap(); SIMD_WIDTH];
let im1 = SimdFloat::from(array![|ii| rbs1[ii].mass_properties.inv_mass; SIMD_WIDTH]);
let sqrt_ii1: AngularInertia<SimdFloat> =
AngularInertia::from(array![|ii| rbs1[ii].world_inv_inertia_sqrt; SIMD_WIDTH]);
let im2 = SimdFloat::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
let sqrt_ii2: AngularInertia<SimdFloat> =
AngularInertia::from(array![|ii| rbs2[ii].world_inv_inertia_sqrt; SIMD_WIDTH]);
let local_n1 = Vector::from(array![|ii| manifolds[ii].local_n1; SIMD_WIDTH]);
let local_n2 = Vector::from(array![|ii| manifolds[ii].local_n2; SIMD_WIDTH]);
let radius1 = SimdFloat::from(array![|ii| manifolds[ii].kinematics.radius1; SIMD_WIDTH]);
let radius2 = SimdFloat::from(array![|ii| manifolds[ii].kinematics.radius2; SIMD_WIDTH]);
let delta1 = Isometry::from(array![|ii| manifolds[ii].delta1; SIMD_WIDTH]);
let delta2 = Isometry::from(array![|ii| manifolds[ii].delta2; SIMD_WIDTH]);
let rb1 = array![|ii| rbs1[ii].active_set_offset; SIMD_WIDTH];
let rb2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
let radius = radius1 + radius2 /*- SimdFloat::splat(params.allowed_linear_error)*/;
for l in (0..manifolds[0].num_active_contacts()).step_by(MAX_MANIFOLD_POINTS) {
let manifold_points = array![|ii| &manifolds[ii].active_contacts()[l..]; SIMD_WIDTH];
let num_points = manifold_points[0].len().min(MAX_MANIFOLD_POINTS);
let mut constraint = WPositionConstraint {
rb1,
rb2,
local_p1: [Point::origin(); MAX_MANIFOLD_POINTS],
local_p2: [Point::origin(); MAX_MANIFOLD_POINTS],
local_n1,
radius,
im1,
im2,
ii1: sqrt_ii1.squared(),
ii2: sqrt_ii2.squared(),
erp: SimdFloat::splat(params.erp),
max_linear_correction: SimdFloat::splat(params.max_linear_correction),
num_contacts: num_points as u8,
};
let shift1 = local_n1 * -radius1;
let shift2 = local_n2 * -radius2;
for i in 0..num_points {
let local_p1 =
Point::from(array![|ii| manifold_points[ii][i].local_p1; SIMD_WIDTH]);
let local_p2 =
Point::from(array![|ii| manifold_points[ii][i].local_p2; SIMD_WIDTH]);
constraint.local_p1[i] = delta1 * (local_p1 + shift1);
constraint.local_p2[i] = delta2 * (local_p2 + shift2);
}
if push {
if manifolds[0].kinematics.category == KinematicsCategory::PointPoint {
out_constraints.push(AnyPositionConstraint::GroupedPointPoint(constraint));
} else {
out_constraints.push(AnyPositionConstraint::GroupedPlanePoint(constraint));
}
} else {
if manifolds[0].kinematics.category == KinematicsCategory::PointPoint {
out_constraints[manifolds[0].constraint_index + l / MAX_MANIFOLD_POINTS] =
AnyPositionConstraint::GroupedPointPoint(constraint);
} else {
out_constraints[manifolds[0].constraint_index + l / MAX_MANIFOLD_POINTS] =
AnyPositionConstraint::GroupedPlanePoint(constraint);
}
}
}
}
pub fn solve_point_point(
&self,
params: &IntegrationParameters,
positions: &mut [Isometry<f32>],
) {
// FIXME: can we avoid most of the multiplications by pos1/pos2?
// Compute jacobians.
let mut pos1 = Isometry::from(array![|ii| positions[self.rb1[ii]]; SIMD_WIDTH]);
let mut pos2 = Isometry::from(array![|ii| positions[self.rb2[ii]]; SIMD_WIDTH]);
let allowed_err = SimdFloat::splat(params.allowed_linear_error);
let target_dist = self.radius - allowed_err;
for k in 0..self.num_contacts as usize {
let p1 = pos1 * self.local_p1[k];
let p2 = pos2 * self.local_p2[k];
let dpos = p2 - p1;
let sqdist = dpos.norm_squared();
if sqdist.simd_lt(target_dist * target_dist).any() {
let dist = sqdist.simd_sqrt();
let n = dpos / dist;
let err = ((dist - target_dist) * self.erp)
.simd_clamp(-self.max_linear_correction, SimdFloat::zero());
let dp1 = p1.coords - pos1.translation.vector;
let dp2 = p2.coords - pos2.translation.vector;
let gcross1 = dp1.gcross(n);
let gcross2 = -dp2.gcross(n);
let ii_gcross1 = self.ii1.transform_vector(gcross1);
let ii_gcross2 = self.ii2.transform_vector(gcross2);
// Compute impulse.
let inv_r =
self.im1 + self.im2 + gcross1.gdot(ii_gcross1) + gcross2.gdot(ii_gcross2);
let impulse = err / inv_r;
// Apply impulse.
pos1.translation = Translation::from(n * (impulse * self.im1)) * pos1.translation;
pos1.rotation = Rotation::new(ii_gcross1 * impulse) * pos1.rotation;
pos2.translation = Translation::from(n * (-impulse * self.im2)) * pos2.translation;
pos2.rotation = Rotation::new(ii_gcross2 * impulse) * pos2.rotation;
}
}
for ii in 0..SIMD_WIDTH {
positions[self.rb1[ii]] = pos1.extract(ii);
}
for ii in 0..SIMD_WIDTH {
positions[self.rb2[ii]] = pos2.extract(ii);
}
}
pub fn solve_plane_point(
&self,
params: &IntegrationParameters,
positions: &mut [Isometry<f32<
|
