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feat: solver improvements + release v0.29.0 (#876)

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* feat: solver improvements

* feat: add function to get/set whether gyroscopic forces are enabled on a rigid-body

* chore: switch to released versions of parry and wide instead of local patches

* fix cargo doc

* chore: typo fixes

* chore: clippy fix

* Release v0.29.0

* chore: more clippy fixes
This commit is contained in:
Sébastien Crozet
2025-09-05 19:31:58 +02:00
committed by GitHub
parent 317322b31b
commit 134f433903
94 changed files with 5066 additions and 8136 deletions
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594
src/dynamics/solver/contact_constraint/generic_contact_constraint.rs Normal file
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use crate::dynamics::solver::GenericRhs;
use crate::dynamics::{IntegrationParameters, MultibodyJointSet, RigidBodySet};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
use crate::math::{DIM, MAX_MANIFOLD_POINTS, Real};
use crate::utils::{SimdAngularInertia, SimdCross, SimdDot};
use super::{ContactConstraintNormalPart, ContactConstraintTangentPart};
use crate::dynamics::solver::CoulombContactPointInfos;
use crate::dynamics::solver::solver_body::SolverBodies;
use crate::prelude::RigidBodyHandle;
#[cfg(feature = "dim2")]
use crate::utils::SimdBasis;
use na::DVector;
use parry::math::Vector;
#[derive(Copy, Clone)]
pub(crate) struct GenericContactConstraintBuilder {
infos: [CoulombContactPointInfos<Real>; MAX_MANIFOLD_POINTS],
handle1: RigidBodyHandle,
handle2: RigidBodyHandle,
ccd_thickness: Real,
}
impl GenericContactConstraintBuilder {
pub fn invalid() -> Self {
Self {
infos: [CoulombContactPointInfos::default(); MAX_MANIFOLD_POINTS],
handle1: RigidBodyHandle::invalid(),
handle2: RigidBodyHandle::invalid(),
ccd_thickness: Real::MAX,
}
}
pub fn generate(
manifold_id: ContactManifoldIndex,
manifold: &ContactManifold,
bodies: &RigidBodySet,
multibodies: &MultibodyJointSet,
out_builders: &mut [GenericContactConstraintBuilder],
out_constraints: &mut [GenericContactConstraint],
jacobians: &mut DVector<Real>,
jacobian_id: &mut usize,
) {
// TODO PERF: we haven’t tried to optimized this codepath yet (since it relies
// on multibodies which are already much slower than regular bodies).
let handle1 = manifold
.data
.rigid_body1
.unwrap_or(RigidBodyHandle::invalid());
let handle2 = manifold
.data
.rigid_body2
.unwrap_or(RigidBodyHandle::invalid());
let rb1 = &bodies.get(handle1).unwrap_or(&bodies.default_fixed);
let rb2 = &bodies.get(handle2).unwrap_or(&bodies.default_fixed);
let (vels1, mprops1, type1) = (&rb1.vels, &rb1.mprops, &rb1.body_type);
let (vels2, mprops2, type2) = (&rb2.vels, &rb2.mprops, &rb2.body_type);
let multibody1 = multibodies
.rigid_body_link(handle1)
.map(|m| (&multibodies[m.multibody], m.id));
let multibody2 = multibodies
.rigid_body_link(handle2)
.map(|m| (&multibodies[m.multibody], m.id));
let solver_vel1 =
multibody1
.map(|mb| mb.0.solver_id)
.unwrap_or(if type1.is_dynamic_or_kinematic() {
rb1.ids.active_set_offset
} else {
u32::MAX
});
let solver_vel2 =
multibody2
.map(|mb| mb.0.solver_id)
.unwrap_or(if type2.is_dynamic_or_kinematic() {
rb2.ids.active_set_offset
} else {
u32::MAX
});
let force_dir1 = -manifold.data.normal;
#[cfg(feature = "dim2")]
let tangents1 = force_dir1.orthonormal_basis();
#[cfg(feature = "dim3")]
let tangents1 =
super::compute_tangent_contact_directions(&force_dir1, &vels1.linvel, &vels2.linvel);
let multibodies_ndof = multibody1.map(|m| m.0.ndofs()).unwrap_or(0)
+ multibody2.map(|m| m.0.ndofs()).unwrap_or(0);
// For each solver contact we generate DIM constraints, and each constraints appends
// the multibodies jacobian and weighted jacobians
let required_jacobian_len =
*jacobian_id + manifold.data.solver_contacts.len() * multibodies_ndof * 2 * DIM;
if jacobians.nrows() < required_jacobian_len && !cfg!(feature = "parallel") {
jacobians.resize_vertically_mut(required_jacobian_len, 0.0);
}
for (l, manifold_points) in manifold
.data
.solver_contacts
.chunks(MAX_MANIFOLD_POINTS)
.enumerate()
{
let chunk_j_id = *jacobian_id;
let builder = &mut out_builders[l];
let constraint = &mut out_constraints[l];
constraint.dir1 = force_dir1;
constraint.im1 = if type1.is_dynamic_or_kinematic() {
mprops1.effective_inv_mass
} else {
na::zero()
};
constraint.im2 = if type2.is_dynamic_or_kinematic() {
mprops2.effective_inv_mass
} else {
na::zero()
};
constraint.solver_vel1 = solver_vel1;
constraint.solver_vel2 = solver_vel2;
constraint.manifold_id = manifold_id;
constraint.num_contacts = manifold_points.len() as u8;
#[cfg(feature = "dim3")]
{
constraint.tangent1 = tangents1[0];
}
for k in 0..manifold_points.len() {
let manifold_point = &manifold_points[k];
let point = manifold_point.point;
let dp1 = point - mprops1.world_com;
let dp2 = point - mprops2.world_com;
let vel1 = vels1.linvel + vels1.angvel.gcross(dp1);
let vel2 = vels2.linvel + vels2.angvel.gcross(dp2);
constraint.limit = manifold_point.friction;
constraint.manifold_contact_id[k] = manifold_point.contact_id[0] as u8;
// Normal part.
let normal_rhs_wo_bias;
{
let torque_dir1 = dp1.gcross(force_dir1);
let torque_dir2 = dp2.gcross(-force_dir1);
let ii_torque_dir1 = if type1.is_dynamic_or_kinematic() {
mprops1
.effective_world_inv_inertia
.transform_vector(torque_dir1)
} else {
na::zero()
};
let ii_torque_dir2 = if type2.is_dynamic_or_kinematic() {
mprops2
.effective_world_inv_inertia
.transform_vector(torque_dir2)
} else {
na::zero()
};
let inv_r1 = if let Some((mb1, link_id1)) = multibody1.as_ref() {
mb1.fill_jacobians(
*link_id1,
force_dir1,
#[cfg(feature = "dim2")]
na::vector!(torque_dir1),
#[cfg(feature = "dim3")]
torque_dir1,
jacobian_id,
jacobians,
)
.0
} else if type1.is_dynamic_or_kinematic() {
force_dir1.dot(&mprops1.effective_inv_mass.component_mul(&force_dir1))
+ ii_torque_dir1.gdot(torque_dir1)
} else {
0.0
};
let inv_r2 = if let Some((mb2, link_id2)) = multibody2.as_ref() {
mb2.fill_jacobians(
*link_id2,
-force_dir1,
#[cfg(feature = "dim2")]
na::vector!(torque_dir2),
#[cfg(feature = "dim3")]
torque_dir2,
jacobian_id,
jacobians,
)
.0
} else if type2.is_dynamic_or_kinematic() {
force_dir1.dot(&mprops2.effective_inv_mass.component_mul(&force_dir1))
+ ii_torque_dir2.gdot(torque_dir2)
} else {
0.0
};
let r = crate::utils::inv(inv_r1 + inv_r2);
let is_bouncy = manifold_point.is_bouncy() as u32 as Real;
normal_rhs_wo_bias =
(is_bouncy * manifold_point.restitution) * (vel1 - vel2).dot(&force_dir1);
constraint.normal_part[k] = ContactConstraintNormalPart {
torque_dir1,
torque_dir2,
ii_torque_dir1,
ii_torque_dir2,
rhs: na::zero(),
rhs_wo_bias: na::zero(),
impulse_accumulator: na::zero(),
impulse: manifold_point.warmstart_impulse,
r,
r_mat_elts: [0.0; 2],
};
}
// Tangent parts.
{
constraint.tangent_part[k].impulse = manifold_point.warmstart_tangent_impulse;
for j in 0..DIM - 1 {
let torque_dir1 = dp1.gcross(tangents1[j]);
let ii_torque_dir1 = if type1.is_dynamic_or_kinematic() {
mprops1
.effective_world_inv_inertia
.transform_vector(torque_dir1)
} else {
na::zero()
};
constraint.tangent_part[k].torque_dir1[j] = torque_dir1;
constraint.tangent_part[k].ii_torque_dir1[j] = ii_torque_dir1;
let torque_dir2 = dp2.gcross(-tangents1[j]);
let ii_torque_dir2 = if type2.is_dynamic_or_kinematic() {
mprops2
.effective_world_inv_inertia
.transform_vector(torque_dir2)
} else {
na::zero()
};
constraint.tangent_part[k].torque_dir2[j] = torque_dir2;
constraint.tangent_part[k].ii_torque_dir2[j] = ii_torque_dir2;
let inv_r1 = if let Some((mb1, link_id1)) = multibody1.as_ref() {
mb1.fill_jacobians(
*link_id1,
tangents1[j],
#[cfg(feature = "dim2")]
na::vector![torque_dir1],
#[cfg(feature = "dim3")]
torque_dir1,
jacobian_id,
jacobians,
)
.0
} else if type1.is_dynamic_or_kinematic() {
force_dir1.dot(&mprops1.effective_inv_mass.component_mul(&force_dir1))
+ ii_torque_dir1.gdot(torque_dir1)
} else {
0.0
};
let inv_r2 = if let Some((mb2, link_id2)) = multibody2.as_ref() {
mb2.fill_jacobians(
*link_id2,
-tangents1[j],
#[cfg(feature = "dim2")]
na::vector![torque_dir2],
#[cfg(feature = "dim3")]
torque_dir2,
jacobian_id,
jacobians,
)
.0
} else if type2.is_dynamic_or_kinematic() {
force_dir1.dot(&mprops2.effective_inv_mass.component_mul(&force_dir1))
+ ii_torque_dir2.gdot(torque_dir2)
} else {
0.0
};
let r = crate::utils::inv(inv_r1 + inv_r2);
let rhs_wo_bias = manifold_point.tangent_velocity.dot(&tangents1[j]);
constraint.tangent_part[k].rhs_wo_bias[j] = rhs_wo_bias;
constraint.tangent_part[k].rhs[j] = rhs_wo_bias;
// TODO: in 3D, we should take into account gcross[0].dot(gcross[1])
// in lhs. See the corresponding code on the `velocity_constraint.rs`
// file.
constraint.tangent_part[k].r[j] = r;
}
}
// Builder.
let infos = CoulombContactPointInfos {
local_p1: rb1
.pos
.position
.inverse_transform_point(&manifold_point.point),
local_p2: rb2
.pos
.position
.inverse_transform_point(&manifold_point.point),
tangent_vel: manifold_point.tangent_velocity,
dist: manifold_point.dist,
normal_vel: normal_rhs_wo_bias,
};
builder.handle1 = handle1;
builder.handle2 = handle2;
builder.ccd_thickness = rb1.ccd.ccd_thickness + rb2.ccd.ccd_thickness;
builder.infos[k] = infos;
constraint.manifold_contact_id[k] = manifold_point.contact_id[0] as u8;
}
let ndofs1 = multibody1.map(|mb| mb.0.ndofs()).unwrap_or(0);
let ndofs2 = multibody2.map(|mb| mb.0.ndofs()).unwrap_or(0);
// NOTE: we use the generic constraint for non-dynamic bodies because this will
// reduce all ops to nothing because its ndofs will be zero.
let generic_constraint_mask = (multibody1.is_some() as u8)
| ((multibody2.is_some() as u8) << 1)
| (!type1.is_dynamic_or_kinematic() as u8)
| ((!type2.is_dynamic_or_kinematic() as u8) << 1);
constraint.j_id = chunk_j_id;
constraint.ndofs1 = ndofs1;
constraint.ndofs2 = ndofs2;
constraint.generic_constraint_mask = generic_constraint_mask;
}
}
pub fn update(
&self,
params: &IntegrationParameters,
solved_dt: Real,
bodies: &SolverBodies,
multibodies: &MultibodyJointSet,
constraint: &mut GenericContactConstraint,
) {
let cfm_factor = params.contact_cfm_factor();
let inv_dt = params.inv_dt();
let erp_inv_dt = params.contact_erp_inv_dt();
// We don’t update jacobians so the update is mostly identical to the non-generic velocity constraint.
let pose1 = multibodies
.rigid_body_link(self.handle1)
.map(|m| multibodies[m.multibody].link(m.id).unwrap().local_to_world)
.unwrap_or_else(|| bodies.get_pose(constraint.solver_vel1).pose);
let pose2 = multibodies
.rigid_body_link(self.handle2)
.map(|m| multibodies[m.multibody].link(m.id).unwrap().local_to_world)
.unwrap_or_else(|| bodies.get_pose(constraint.solver_vel2).pose);
let all_infos = &self.infos[..constraint.num_contacts as usize];
let normal_parts = &mut constraint.normal_part[..constraint.num_contacts as usize];
let tangent_parts = &mut constraint.tangent_part[..constraint.num_contacts as usize];
#[cfg(feature = "dim2")]
let tangents1 = constraint.dir1.orthonormal_basis();
#[cfg(feature = "dim3")]
let tangents1 = [
constraint.tangent1,
constraint.dir1.cross(&constraint.tangent1),
];
for ((info, normal_part), tangent_part) in all_infos
.iter()
.zip(normal_parts.iter_mut())
.zip(tangent_parts.iter_mut())
{
// Tangent velocity is equivalent to the first body’s surface moving artificially.
let p1 = pose1 * info.local_p1 + info.tangent_vel * solved_dt;
let p2 = pose2 * info.local_p2;
let dist = info.dist + (p1 - p2).dot(&constraint.dir1);
// Normal part.
{
let rhs_wo_bias = info.normal_vel + dist.max(0.0) * inv_dt;
let rhs_bias = (erp_inv_dt * (dist + params.allowed_linear_error()))
.clamp(-params.max_corrective_velocity(), 0.0);
let new_rhs = rhs_wo_bias + rhs_bias;
normal_part.rhs_wo_bias = rhs_wo_bias;
normal_part.rhs = new_rhs;
normal_part.impulse_accumulator += normal_part.impulse;
normal_part.impulse *= params.warmstart_coefficient;
}
// Tangent part.
{
tangent_part.impulse_accumulator += tangent_part.impulse;
tangent_part.impulse *= params.warmstart_coefficient;
for j in 0..DIM - 1 {
let bias = (p1 - p2).dot(&tangents1[j]) * inv_dt;
tangent_part.rhs[j] = tangent_part.rhs_wo_bias[j] + bias;
}
}
}
constraint.cfm_factor = cfm_factor;
}
}
#[derive(Copy, Clone, Debug)]
pub(crate) struct GenericContactConstraint {
/*
* Fields specific to multibodies.
*/
pub j_id: usize,
pub ndofs1: usize,
pub ndofs2: usize,
pub generic_constraint_mask: u8,
/*
* Fields similar to the rigid-body constraints.
*/
pub dir1: Vector<Real>, // Non-penetration force direction for the first body.
#[cfg(feature = "dim3")]
pub tangent1: Vector<Real>, // One of the friction force directions.
pub im1: Vector<Real>,
pub im2: Vector<Real>,
pub cfm_factor: Real,
pub limit: Real,
pub solver_vel1: u32,
pub solver_vel2: u32,
pub manifold_id: ContactManifoldIndex,
pub manifold_contact_id: [u8; MAX_MANIFOLD_POINTS],
pub num_contacts: u8,
pub normal_part: [ContactConstraintNormalPart<Real>; MAX_MANIFOLD_POINTS],
pub tangent_part: [ContactConstraintTangentPart<Real>; MAX_MANIFOLD_POINTS],
}
impl GenericContactConstraint {
pub fn invalid() -> Self {
Self {
j_id: usize::MAX,
ndofs1: usize::MAX,
ndofs2: usize::MAX,
generic_constraint_mask: u8::MAX,
dir1: Vector::zeros(),
#[cfg(feature = "dim3")]
tangent1: Vector::zeros(),
im1: Vector::zeros(),
im2: Vector::zeros(),
cfm_factor: 0.0,
limit: 0.0,
solver_vel1: u32::MAX,
solver_vel2: u32::MAX,
manifold_id: ContactManifoldIndex::MAX,
manifold_contact_id: [u8::MAX; MAX_MANIFOLD_POINTS],
num_contacts: u8::MAX,
normal_part: [ContactConstraintNormalPart::zero(); MAX_MANIFOLD_POINTS],
tangent_part: [ContactConstraintTangentPart::zero(); MAX_MANIFOLD_POINTS],
}
}
pub fn warmstart(
&mut self,
jacobians: &DVector<Real>,
bodies: &mut SolverBodies,
generic_solver_vels: &mut DVector<Real>,
) {
let mut solver_vel1 = if self.solver_vel1 == u32::MAX {
GenericRhs::Fixed
} else if self.generic_constraint_mask & 0b01 == 0 {
GenericRhs::SolverVel(bodies.vels[self.solver_vel1 as usize])
} else {
GenericRhs::GenericId(self.solver_vel1)
};
let mut solver_vel2 = if self.solver_vel2 == u32::MAX {
GenericRhs::Fixed
} else if self.generic_constraint_mask & 0b10 == 0 {
GenericRhs::SolverVel(bodies.vels[self.solver_vel2 as usize])
} else {
GenericRhs::GenericId(self.solver_vel2)
};
let tangent_parts = &mut self.tangent_part[..self.num_contacts as usize];
let normal_parts = &mut self.normal_part[..self.num_contacts as usize];
Self::generic_warmstart_group(
normal_parts,
tangent_parts,
jacobians,
&self.dir1,
#[cfg(feature = "dim3")]
&self.tangent1,
&self.im1,
&self.im2,
self.ndofs1,
self.ndofs2,
self.j_id,
&mut solver_vel1,
&mut solver_vel2,
generic_solver_vels,
);
if let GenericRhs::SolverVel(solver_vel1) = solver_vel1 {
bodies.vels[self.solver_vel1 as usize] = solver_vel1;
}
if let GenericRhs::SolverVel(solver_vel2) = solver_vel2 {
bodies.vels[self.solver_vel2 as usize] = solver_vel2;
}
}
pub fn solve(
&mut self,
jacobians: &DVector<Real>,
bodies: &mut SolverBodies,
generic_solver_vels: &mut DVector<Real>,
solve_restitution: bool,
solve_friction: bool,
) {
let mut solver_vel1 = if self.solver_vel1 == u32::MAX {
GenericRhs::Fixed
} else if self.generic_constraint_mask & 0b01 == 0 {
GenericRhs::SolverVel(bodies.vels[self.solver_vel1 as usize])
} else {
GenericRhs::GenericId(self.solver_vel1)
};
let mut solver_vel2 = if self.solver_vel2 == u32::MAX {
GenericRhs::Fixed
} else if self.generic_constraint_mask & 0b10 == 0 {
GenericRhs::SolverVel(bodies.vels[self.solver_vel2 as usize])
} else {
GenericRhs::GenericId(self.solver_vel2)
};
let normal_parts = &mut self.normal_part[..self.num_contacts as usize];
let tangent_parts = &mut self.tangent_part[..self.num_contacts as usize];
Self::generic_solve_group(
self.cfm_factor,
normal_parts,
tangent_parts,
jacobians,
&self.dir1,
#[cfg(feature = "dim3")]
&self.tangent1,
&self.im1,
&self.im2,
self.limit,
self.ndofs1,
self.ndofs2,
self.j_id,
&mut solver_vel1,
&mut solver_vel2,
generic_solver_vels,
solve_restitution,
solve_friction,
);
if let GenericRhs::SolverVel(solver_vel1) = solver_vel1 {
bodies.vels[self.solver_vel1 as usize] = solver_vel1;
}
if let GenericRhs::SolverVel(solver_vel2) = solver_vel2 {
bodies.vels[self.solver_vel2 as usize] = solver_vel2;
}
}
pub fn writeback_impulses(&self, manifolds_all: &mut [&mut ContactManifold]) {
let manifold = &mut manifolds_all[self.manifold_id];
for k in 0..self.num_contacts as usize {
let contact_id = self.manifold_contact_id[k];
let active_contact = &mut manifold.points[contact_id as usize];
active_contact.data.warmstart_impulse = self.normal_part[k].impulse;
active_contact.data.warmstart_tangent_impulse = self.tangent_part[k].impulse;
active_contact.data.impulse = self.normal_part[k].total_impulse();
active_contact.data.tangent_impulse = self.tangent_part[k].total_impulse();
}
}
pub fn remove_cfm_and_bias_from_rhs(&mut self) {
self.cfm_factor = 1.0;
for normal_part in &mut self.normal_part {
normal_part.rhs = normal_part.rhs_wo_bias;
}
for tangent_part in &mut self.tangent_part {
tangent_part.rhs = tangent_part.rhs_wo_bias;
}
}
}