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Add a max penetration correction integration parameter

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This commit is contained in:
Sébastien Crozet
2022-03-13 15:28:33 +01:00
committed by Sébastien Crozet
parent 34b0d51455
commit 1535db87c7
8 changed files with 22 additions and 6 deletions
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3
src/dynamics/integration_parameters.rs
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@@ -36,6 +36,8 @@ pub struct IntegrationParameters {
/// Amount of penetration the engine wont attempt to correct (default: `0.001m`).
pub allowed_linear_error: Real,
/// Maximum amount of penetration the solver will attempt to resolve in one timestep.
pub max_penetration_correction: Real,
/// The maximal distance separating two objects that will generate predictive contacts (default: `0.002`).
pub prediction_distance: Real,
/// Maximum number of iterations performed to solve non-penetration and joint constraints (default: `4`).
@@ -150,6 +152,7 @@ impl Default for IntegrationParameters {
joint_erp: 1.0,
joint_damping_ratio: 1.0,
allowed_linear_error: 0.001, // 0.005
max_penetration_correction: Real::MAX,
prediction_distance: 0.002,
max_velocity_iterations: 4,
max_velocity_friction_iterations: 8,

2
src/dynamics/solver/generic_velocity_constraint.rs
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@@ -212,7 +212,7 @@ impl GenericVelocityConstraint {
rhs_wo_bias += manifold_point.dist.max(0.0) * inv_dt;
rhs_wo_bias *= is_bouncy + is_resting;
let rhs_bias =
/* is_resting * */ erp_inv_dt * manifold_point.dist.min(0.0);
/* is_resting * */ erp_inv_dt * manifold_point.dist.clamp(-params.max_penetration_correction, 0.0);
constraint.elements[k].normal_part = VelocityConstraintNormalPart {
gcross1,

2
src/dynamics/solver/generic_velocity_ground_constraint.rs
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@@ -148,7 +148,7 @@ impl GenericVelocityGroundConstraint {
rhs_wo_bias += manifold_point.dist.max(0.0) * inv_dt;
rhs_wo_bias *= is_bouncy + is_resting;
let rhs_bias =
/* is_resting * */ erp_inv_dt * manifold_point.dist.min(0.0);
/* is_resting * */ erp_inv_dt * manifold_point.dist.clamp(-params.max_penetration_correction, 0.0);
constraint.elements[k].normal_part = VelocityGroundConstraintNormalPart {
gcross2: na::zero(), // Unused for generic constraints.

2
src/dynamics/solver/velocity_constraint.rs
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@@ -283,7 +283,7 @@ impl VelocityConstraint {
rhs_wo_bias *= is_bouncy + is_resting;
let rhs_bias = /* is_resting
* */ erp_inv_dt
* (manifold_point.dist + params.allowed_linear_error).min(0.0);
* (manifold_point.dist + params.allowed_linear_error).clamp(-params.max_penetration_correction, 0.0);
constraint.elements[k].normal_part = VelocityConstraintNormalPart {
gcross1,
gcross2,

4
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 allowed_lin_err = SimdReal::splat(params.allowed_linear_error);
let erp_inv_dt = SimdReal::splat(params.erp_inv_dt());
let max_penetration_correction = SimdReal::splat(params.max_penetration_correction);
let handles1 = gather![|ii| manifolds[ii].data.rigid_body1.unwrap()];
let handles2 = gather![|ii| manifolds[ii].data.rigid_body2.unwrap()];
@@ -145,7 +146,8 @@ impl WVelocityConstraint {
(SimdReal::splat(1.0) + is_bouncy * restitution) * projected_velocity;
rhs_wo_bias += dist.simd_max(SimdReal::zero()) * inv_dt;
rhs_wo_bias *= is_bouncy + is_resting;
let rhs_bias = (dist + allowed_lin_err).simd_min(SimdReal::zero())
let rhs_bias = (dist + allowed_lin_err)
.simd_clamp(-max_penetration_correction, SimdReal::zero())
* (erp_inv_dt/* * is_resting */);
constraint.elements[k].normal_part = VelocityConstraintNormalPart {

2
src/dynamics/solver/velocity_ground_constraint.rs
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@@ -167,7 +167,7 @@ impl VelocityGroundConstraint {
rhs_wo_bias *= is_bouncy + is_resting;
let rhs_bias = /* is_resting
* */ erp_inv_dt
* (manifold_point.dist + params.allowed_linear_error).min(0.0);
* (manifold_point.dist + params.allowed_linear_error).clamp(-params.max_penetration_correction, 0.0);
constraint.elements[k].normal_part = VelocityGroundConstraintNormalPart {
gcross2,

4
src/dynamics/solver/velocity_ground_constraint_wide.rs
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@@ -44,6 +44,7 @@ impl WVelocityGroundConstraint {
let inv_dt = SimdReal::splat(params.inv_dt());
let allowed_lin_err = SimdReal::splat(params.allowed_linear_error);
let erp_inv_dt = SimdReal::splat(params.erp_inv_dt());
let max_penetration_correction = SimdReal::splat(params.max_penetration_correction);
let mut handles1 = gather![|ii| manifolds[ii].data.rigid_body1];
let mut handles2 = gather![|ii| manifolds[ii].data.rigid_body2];
@@ -150,7 +151,8 @@ impl WVelocityGroundConstraint {
(SimdReal::splat(1.0) + is_bouncy * restitution) * projected_velocity;
rhs_wo_bias += dist.simd_max(SimdReal::zero()) * inv_dt;
rhs_wo_bias *= is_bouncy + is_resting;
let rhs_bias = (dist + allowed_lin_err).simd_min(SimdReal::zero())
let rhs_bias = (dist + allowed_lin_err)
.simd_clamp(-max_penetration_correction, SimdReal::zero())
* (erp_inv_dt/* * is_resting */);
constraint.elements[k].normal_part = VelocityGroundConstraintNormalPart {