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|
use super::DeltaVel;
use crate::math::{AngVector, Vector, DIM};
use crate::utils::{WBasis, WDot, WReal};
#[derive(Copy, Clone, Debug)]
pub(crate) struct VelocityConstraintTangentPart<N: WReal> {
pub gcross1: [AngVector<N>; DIM - 1],
pub gcross2: [AngVector<N>; DIM - 1],
pub rhs: [N; DIM - 1],
#[cfg(feature = "dim2")]
pub impulse: na::Vector1<N>,
#[cfg(feature = "dim3")]
pub impulse: na::Vector2<N>,
#[cfg(feature = "dim2")]
pub r: [N; 1],
#[cfg(feature = "dim3")]
pub r: [N; DIM],
}
impl<N: WReal> VelocityConstraintTangentPart<N> {
fn zero() -> Self {
Self {
gcross1: [na::zero(); DIM - 1],
gcross2: [na::zero(); DIM - 1],
rhs: [na::zero(); DIM - 1],
impulse: na::zero(),
#[cfg(feature = "dim2")]
r: [na::zero(); 1],
#[cfg(feature = "dim3")]
r: [na::zero(); DIM],
}
}
#[inline]
pub fn solve(
&mut self,
tangents1: [&Vector<N>; DIM - 1],
im1: &Vector<N>,
im2: &Vector<N>,
limit: N,
mj_lambda1: &mut DeltaVel<N>,
mj_lambda2: &mut DeltaVel<N>,
) where
AngVector<N>: WDot<AngVector<N>, Result = N>,
{
#[cfg(feature = "dim2")]
{
let dvel = tangents1[0].dot(&mj_lambda1.linear)
+ self.gcross1[0].gdot(mj_lambda1.angular)
- tangents1[0].dot(&mj_lambda2.linear)
+ self.gcross2[0].gdot(mj_lambda2.angular)
+ self.rhs[0];
let new_impulse = (self.impulse[0] - self.r[0] * dvel).simd_clamp(-limit, limit);
let dlambda = new_impulse - self.impulse[0];
self.impulse[0] = new_impulse;
mj_lambda1.linear += tangents1[0].component_mul(im1) * dlambda;
mj_lambda1.angular += self.gcross1[0] * dlambda;
mj_lambda2.linear += tangents1[0].component_mul(im2) * -dlambda;
mj_lambda2.angular += self.gcross2[0] * dlambda;
}
#[cfg(feature = "dim3")]
{
let dvel_0 = tangents1[0].dot(&mj_lambda1.linear)
+ self.gcross1[0].gdot(mj_lambda1.angular)
- tangents1[0].dot(&mj_lambda2.linear)
+ self.gcross2[0].gdot(mj_lambda2.angular)
+ self.rhs[0];
let dvel_1 = tangents1[1].dot(&mj_lambda1.linear)
+ self.gcross1[1].gdot(mj_lambda1.angular)
- tangents1[1].dot(&mj_lambda2.linear)
+ self.gcross2[1].gdot(mj_lambda2.angular)
+ self.rhs[1];
let dvel_00 = dvel_0 * dvel_0;
let dvel_11 = dvel_1 * dvel_1;
let dvel_01 = dvel_0 * dvel_1;
let inv_lhs = (dvel_00 + dvel_11)
* crate::utils::simd_inv(
dvel_00 * self.r[0] + dvel_11 * self.r[1] + dvel_01 * self.r[2],
);
let delta_impulse = na::vector![inv_lhs * dvel_0, inv_lhs * dvel_1];
let new_impulse = self.impulse - delta_impulse;
let new_impulse = {
let _disable_fe_except =
crate::utils::DisableFloatingPointExceptionsFlags::
disable_floating_point_exceptions();
new_impulse.simd_cap_magnitude(limit)
};
let dlambda = new_impulse - self.impulse;
self.impulse = new_impulse;
mj_lambda1.linear += tangents1[0].component_mul(im1) * dlambda[0]
+ tangents1[1].component_mul(im1) * dlambda[1];
mj_lambda1.angular += self.gcross1[0] * dlambda[0] + self.gcross1[1] * dlambda[1];
mj_lambda2.linear += tangents1[0].component_mul(im2) * -dlambda[0]
+ tangents1[1].component_mul(im2) * -dlambda[1];
mj_lambda2.angular += self.gcross2[0] * dlambda[0] + self.gcross2[1] * dlambda[1];
}
}
}
#[derive(Copy, Clone, Debug)]
pub(crate) struct VelocityConstraintNormalPart<N: WReal> {
pub gcross1: AngVector<N>,
pub gcross2: AngVector<N>,
pub rhs: N,
pub rhs_wo_bias: N,
pub impulse: N,
pub r: N,
}
impl<N: WReal> VelocityConstraintNormalPart<N> {
fn zero() -> Self {
Self {
gcross1: na::zero(),
gcross2: na::zero(),
rhs: na::zero(),
rhs_wo_bias: na::zero(),
impulse: na::zero(),
r: na::zero(),
}
}
#[inline]
pub fn solve(
&mut self,
cfm_factor: N,
dir1: &Vector<N>,
im1: &Vector<N>,
im2: &Vector<N>,
mj_lambda1: &mut DeltaVel<N>,
mj_lambda2: &mut DeltaVel<N>,
) where
AngVector<N>: WDot<AngVector<N>, Result = N>,
{
let dvel = dir1.dot(&mj_lambda1.linear) + self.gcross1.gdot(mj_lambda1.angular)
- 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 dlambda = new_impulse - self.impulse;
self.impulse = new_impulse;
mj_lambda1.linear += dir1.component_mul(im1) * dlambda;
mj_lambda1.angular += self.gcross1 * dlambda;
mj_lambda2.linear += dir1.component_mul(im2) * -dlambda;
mj_lambda2.angular += self.gcross2 * dlambda;
}
}
#[derive(Copy, Clone, Debug)]
pub(crate) struct VelocityConstraintElement<N: WReal> {
pub normal_part: VelocityConstraintNormalPart<N>,
pub tangent_part: VelocityConstraintTangentPart<N>,
}
impl<N: WReal> VelocityConstraintElement<N> {
pub fn zero() -> Self {
Self {
normal_part: VelocityConstraintNormalPart::zero(),
tangent_part: VelocityConstraintTangentPart::zero(),
}
}
#[inline]
pub fn solve_group(
cfm_factor: N,
elements: &mut [Self],
dir1: &Vector<N>,
#[cfg(feature = "dim3")] tangent1: &Vector<N>,
im1: &Vector<N>,
im2: &Vector<N>,
limit: N,
mj_lambda1: &mut DeltaVel<N>,
mj_lambda2: &mut DeltaVel<N>,
solve_normal: bool,
solve_friction: bool,
) where
Vector<N>: WBasis,
AngVector<N>: WDot<AngVector<N>, Result = N>,
{
// Solve penetration.
if solve_normal {
for element in elements.iter_mut() {
element
.normal_part
.solve(cfm_factor, &dir1,
|
