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Fix some solver issues

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- Fix the wrong codepath taken  by the solver for contacts involving a collider without parent.
- Properly adress the non-linear treatment of the friction direction
- Simplify the sleeping strategy
- Add an impulse resolution multiplier
This commit is contained in:
Sébastien Crozet
2022-01-16 16:40:59 +01:00
parent 4454a845e9
commit 0703e5527f
43 changed files with 936 additions and 229 deletions
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27
src/dynamics/solver/velocity_constraint_wide.rs
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@@ -49,6 +49,7 @@ impl WVelocityConstraint {
let inv_dt = SimdReal::splat(params.inv_dt());
let velocity_solve_fraction = SimdReal::splat(params.velocity_solve_fraction);
let erp_inv_dt = SimdReal::splat(params.erp_inv_dt());
let delassus_inv_factor = SimdReal::splat(params.delassus_inv_factor);
let allowed_lin_err = SimdReal::splat(params.allowed_linear_error);
let handles1 = gather![|ii| manifolds[ii].data.rigid_body1.unwrap()];
@@ -136,14 +137,14 @@ impl WVelocityConstraint {
let gcross2 = ii2.transform_vector(dp2.gcross(-force_dir1));
let imsum = im1 + im2;
let r = SimdReal::splat(1.0)
let r = delassus_inv_factor
/ (force_dir1.dot(&imsum.component_mul(&force_dir1))
+ gcross1.gdot(gcross1)
+ gcross2.gdot(gcross2));
let projected_velocity = (vel1 - vel2).dot(&force_dir1);
let mut rhs_wo_bias =
(SimdReal::splat(1.0) + is_bouncy * restitution) * projected_velocity;
rhs_wo_bias += (dist + allowed_lin_err).simd_max(SimdReal::zero()) * inv_dt;
rhs_wo_bias += dist.simd_max(SimdReal::zero()) * inv_dt;
rhs_wo_bias *= is_bouncy + is_resting * velocity_solve_fraction;
let rhs_bias = (dist + allowed_lin_err).simd_min(SimdReal::zero())
* (erp_inv_dt/* * is_resting */);
@@ -165,16 +166,28 @@ impl WVelocityConstraint {
let gcross1 = ii1.transform_vector(dp1.gcross(tangents1[j]));
let gcross2 = ii2.transform_vector(dp2.gcross(-tangents1[j]));
let imsum = im1 + im2;
let r = SimdReal::splat(1.0)
/ (tangents1[j].dot(&imsum.component_mul(&tangents1[j]))
+ gcross1.gdot(gcross1)
+ gcross2.gdot(gcross2));
let r = tangents1[j].dot(&imsum.component_mul(&tangents1[j]))
+ gcross1.gdot(gcross1)
+ gcross2.gdot(gcross2);
let rhs = (vel1 - vel2 + tangent_velocity).dot(&tangents1[j]);
constraint.elements[k].tangent_part.gcross1[j] = gcross1;
constraint.elements[k].tangent_part.gcross2[j] = gcross2;
constraint.elements[k].tangent_part.rhs[j] = rhs;
constraint.elements[k].tangent_part.r[j] = r;
constraint.elements[k].tangent_part.r[j] = if cfg!(feature = "dim2") {
SimdReal::splat(1.0) / r
} else {
r
};
}
#[cfg(feature = "dim3")]
{
constraint.elements[k].tangent_part.r[2] = SimdReal::splat(2.0)
* (constraint.elements[k].tangent_part.gcross1[0]
.gdot(constraint.elements[k].tangent_part.gcross1[1])
+ constraint.elements[k].tangent_part.gcross2[0]
.gdot(constraint.elements[k].tangent_part.gcross2[1]));
}
}