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Fix constraints resolution with non-identity relative collider position.

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This commit is contained in:
Sébastien Crozet
2020-09-01 14:02:59 +02:00
parent 03b437f278
commit 9622827dc6
11 changed files with 118 additions and 75 deletions
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4
src/dynamics/solver/position_constraint.rs
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@@ -104,8 +104,8 @@ impl PositionConstraint {
let mut local_p2 = [Point::origin(); MAX_MANIFOLD_POINTS];
for l in 0..manifold_points.len() {
local_p1[l] = manifold_points[l].local_p1 + shift1;
local_p2[l] = manifold_points[l].local_p2 + shift2;
local_p1[l] = manifold.delta1 * (manifold_points[l].local_p1 + shift1);
local_p2[l] = manifold.delta2 * (manifold_points[l].local_p2 + shift2);
}
let constraint = PositionConstraint {

7
src/dynamics/solver/position_constraint_wide.rs
View File

@@ -51,6 +51,9 @@ impl WPositionConstraint {
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];
@@ -85,8 +88,8 @@ impl WPositionConstraint {
let local_p2 =
Point::from(array![|ii| manifold_points[ii][i].local_p2; SIMD_WIDTH]);
constraint.local_p1[i] = local_p1 + shift1;
constraint.local_p2[i] = local_p2 + shift2;
constraint.local_p1[i] = delta1 * (local_p1 + shift1);
constraint.local_p2[i] = delta2 * (local_p2 + shift2);
}
if push {

28
src/dynamics/solver/position_ground_constraint.rs
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@@ -34,22 +34,30 @@ impl PositionGroundConstraint {
let local_n1;
let local_n2;
let delta1;
let delta2;
if flip {
std::mem::swap(&mut rb1, &mut rb2);
local_n1 = manifold.local_n2;
local_n2 = manifold.local_n1;
delta1 = &manifold.delta2;
delta2 = &manifold.delta1;
} else {
local_n1 = manifold.local_n1;
local_n2 = manifold.local_n2;
delta1 = &manifold.delta1;
delta2 = &manifold.delta2;
};
let coll_pos1 = rb1.position * delta1;
let shift1 = local_n1 * -manifold.kinematics.radius1;
let shift2 = local_n2 * -manifold.kinematics.radius2;
let n1 = coll_pos1 * local_n1;
let radius =
manifold.kinematics.radius1 + manifold.kinematics.radius2 /* - params.allowed_linear_error */;
for (l, manifold_points) in manifold
for (l, manifold_contacts) in manifold
.active_contacts()
.chunks(MAX_MANIFOLD_POINTS)
.enumerate()
@@ -59,16 +67,16 @@ impl PositionGroundConstraint {
if flip {
// Don't forget that we already swapped rb1 and rb2 above.
// So if we flip, only manifold_points[k].{local_p1,local_p2} have to
// So if we flip, only manifold_contacts[k].{local_p1,local_p2} have to
// be swapped.
for k in 0..manifold_points.len() {
p1[k] = rb1.predicted_position * (manifold_points[k].local_p2 + shift1);
local_p2[k] = manifold_points[k].local_p1 + shift2;
for k in 0..manifold_contacts.len() {
p1[k] = coll_pos1 * (manifold_contacts[k].local_p2 + shift1);
local_p2[k] = delta2 * (manifold_contacts[k].local_p1 + shift2);
}
} else {
for k in 0..manifold_points.len() {
p1[k] = rb1.predicted_position * (manifold_points[k].local_p1 + shift1);
local_p2[k] = manifold_points[k].local_p2 + shift2;
for k in 0..manifold_contacts.len() {
p1[k] = coll_pos1 * (manifold_contacts[k].local_p1 + shift1);
local_p2[k] = delta2 * (manifold_contacts[k].local_p2 + shift2);
}
}
@@ -76,11 +84,11 @@ impl PositionGroundConstraint {
rb2: rb2.active_set_offset,
p1,
local_p2,
n1: rb1.predicted_position * local_n1,
n1,
radius,
im2: rb2.mass_properties.inv_mass,
ii2: rb2.world_inv_inertia_sqrt.squared(),
num_contacts: manifold_points.len() as u8,
num_contacts: manifold_contacts.len() as u8,
erp: params.erp,
max_linear_correction: params.max_linear_correction,
};

16
src/dynamics/solver/position_ground_constraint_wide.rs
View File

@@ -54,16 +54,24 @@ impl WPositionGroundConstraint {
array![|ii| if flipped[ii] { manifolds[ii].local_n1 } else { manifolds[ii].local_n2 }; SIMD_WIDTH],
);
let delta1 = Isometry::from(
array![|ii| if flipped[ii] { manifolds[ii].delta2 } else { manifolds[ii].delta1 }; SIMD_WIDTH],
);
let delta2 = Isometry::from(
array![|ii| if flipped[ii] { manifolds[ii].delta1 } else { manifolds[ii].delta2 }; 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 position1 = Isometry::from(array![|ii| rbs1[ii].predicted_position; SIMD_WIDTH]);
let coll_pos1 =
delta1 * Isometry::from(array![|ii| rbs1[ii].predicted_position; SIMD_WIDTH]);
let rb2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
let radius = radius1 + radius2 /*- SimdFloat::splat(params.allowed_linear_error)*/;
let n1 = position1 * local_n1;
let n1 = coll_pos1 * local_n1;
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];
@@ -90,8 +98,8 @@ impl WPositionGroundConstraint {
array![|ii| if flipped[ii] { manifold_points[ii][i].local_p1 } else { manifold_points[ii][i].local_p2 }; SIMD_WIDTH],
);
constraint.p1[i] = position1 * local_p1 - n1 * radius1;
constraint.local_p2[i] = local_p2 - local_n2 * radius2;
constraint.p1[i] = coll_pos1 * local_p1 - n1 * radius1;
constraint.local_p2[i] = delta2 * (local_p2 - local_n2 * radius2);
}
if push {

8
src/dynamics/solver/velocity_constraint.rs
View File

@@ -148,7 +148,9 @@ impl VelocityConstraint {
let rb2 = &bodies[manifold.body_pair.body2];
let mj_lambda1 = rb1.active_set_offset;
let mj_lambda2 = rb2.active_set_offset;
let force_dir1 = rb1.position * (-manifold.local_n1);
let pos_coll1 = rb1.position * manifold.delta1;
let pos_coll2 = rb2.position * manifold.delta2;
let force_dir1 = pos_coll1 * (-manifold.local_n1);
let warmstart_coeff = manifold.warmstart_multiplier * params.warmstart_coeff;
for (l, manifold_points) in manifold
@@ -215,8 +217,8 @@ impl VelocityConstraint {
for k in 0..manifold_points.len() {
let manifold_point = &manifold_points[k];
let dp1 = (rb1.position * manifold_point.local_p1) - rb1.world_com;
let dp2 = (rb2.position * manifold_point.local_p2) - rb2.world_com;
let dp1 = (pos_coll1 * manifold_point.local_p1) - rb1.world_com;
let dp2 = (pos_coll2 * manifold_point.local_p2) - rb2.world_com;
let vel1 = rb1.linvel + rb1.angvel.gcross(dp1);
let vel2 = rb2.linvel + rb2.angvel.gcross(dp2);

18
src/dynamics/solver/velocity_constraint_wide.rs
View File

@@ -72,6 +72,9 @@ impl WVelocityConstraint {
let rbs1 = array![|ii| &bodies[manifolds[ii].body_pair.body1]; SIMD_WIDTH];
let rbs2 = array![|ii| &bodies[manifolds[ii].body_pair.body2]; 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 im1 = SimdFloat::from(array![|ii| rbs1[ii].mass_properties.inv_mass; SIMD_WIDTH]);
let ii1: AngularInertia<SimdFloat> =
AngularInertia::from(array![|ii| rbs1[ii].world_inv_inertia_sqrt; SIMD_WIDTH]);
@@ -79,7 +82,7 @@ impl WVelocityConstraint {
let linvel1 = Vector::from(array![|ii| rbs1[ii].linvel; SIMD_WIDTH]);
let angvel1 = AngVector::<SimdFloat>::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]);
let position1 = Isometry::from(array![|ii| rbs1[ii].position; SIMD_WIDTH]);
let pos1 = Isometry::from(array![|ii| rbs1[ii].position; SIMD_WIDTH]);
let world_com1 = Point::from(array![|ii| rbs1[ii].world_com; SIMD_WIDTH]);
let im2 = SimdFloat::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
@@ -89,10 +92,13 @@ impl WVelocityConstraint {
let linvel2 = Vector::from(array![|ii| rbs2[ii].linvel; SIMD_WIDTH]);
let angvel2 = AngVector::<SimdFloat>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]);
let position2 = Isometry::from(array![|ii| rbs2[ii].position; SIMD_WIDTH]);
let pos2 = Isometry::from(array![|ii| rbs2[ii].position; SIMD_WIDTH]);
let world_com2 = Point::from(array![|ii| rbs2[ii].world_com; SIMD_WIDTH]);
let force_dir1 = position1 * -Vector::from(array![|ii| manifolds[ii].local_n1; SIMD_WIDTH]);
let coll_pos1 = pos1 * delta1;
let coll_pos2 = pos2 * delta2;
let force_dir1 = coll_pos1 * -Vector::from(array![|ii| manifolds[ii].local_n1; SIMD_WIDTH]);
let mj_lambda1 = array![|ii| rbs1[ii].active_set_offset; SIMD_WIDTH];
let mj_lambda2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
@@ -120,11 +126,11 @@ impl WVelocityConstraint {
};
for k in 0..num_points {
// FIXME: can we avoid the multiplications by position1/position2 here?
// FIXME: can we avoid the multiplications by coll_pos1/coll_pos2 here?
// By working as much as possible in local-space.
let p1 = position1
let p1 = coll_pos1
* Point::from(array![|ii| manifold_points[ii][k].local_p1; SIMD_WIDTH]);
let p2 = position2
let p2 = coll_pos2
* Point::from(array![|ii| manifold_points[ii][k].local_p2; SIMD_WIDTH]);
let dist = SimdFloat::from(array![|ii| manifold_points[ii][k].dist; SIMD_WIDTH]);

28
src/dynamics/solver/velocity_ground_constraint.rs
View File

@@ -66,20 +66,22 @@ impl VelocityGroundConstraint {
let mut rb1 = &bodies[manifold.body_pair.body1];
let mut rb2 = &bodies[manifold.body_pair.body2];
let flipped = !rb2.is_dynamic();
let force_dir1;
let coll_pos1;
let coll_pos2;
if flipped {
coll_pos1 = rb2.position * manifold.delta2;
coll_pos2 = rb1.position * manifold.delta1;
force_dir1 = coll_pos1 * (-manifold.local_n2);
std::mem::swap(&mut rb1, &mut rb2);
} else {
coll_pos1 = rb1.position * manifold.delta1;
coll_pos2 = rb2.position * manifold.delta2;
force_dir1 = coll_pos1 * (-manifold.local_n1);
}
let mj_lambda2 = rb2.active_set_offset;
let force_dir1 = if flipped {
// NOTE: we already swapped rb1 and rb2
// so we multiply by rb1.position.
rb1.position * (-manifold.local_n2)
} else {
rb1.position * (-manifold.local_n1)
};
let warmstart_coeff = manifold.warmstart_multiplier * params.warmstart_coeff;
for (l, manifold_points) in manifold
@@ -144,15 +146,15 @@ impl VelocityGroundConstraint {
let manifold_point = &manifold_points[k];
let (p1, p2) = if flipped {
// NOTE: we already swapped rb1 and rb2
// so we multiply by rb2.position.
// so we multiply by coll_pos1/coll_pos2.
(
rb1.position * manifold_point.local_p2,
rb2.position * manifold_point.local_p1,
coll_pos1 * manifold_point.local_p2,
coll_pos2 * manifold_point.local_p1,
)
} else {
(
rb1.position * manifold_point.local_p1,
rb2.position * manifold_point.local_p2,
coll_pos1 * manifold_point.local_p1,
coll_pos2 * manifold_point.local_p2,
)
};
let dp2 = p2 - rb2.world_com;

20
src/dynamics/solver/velocity_ground_constraint_wide.rs
View File

@@ -86,13 +86,23 @@ impl WVelocityGroundConstraint {
let linvel2 = Vector::from(array![|ii| rbs2[ii].linvel; SIMD_WIDTH]);
let angvel2 = AngVector::<SimdFloat>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]);
let position1 = Isometry::from(array![|ii| rbs1[ii].position; SIMD_WIDTH]);
let position2 = Isometry::from(array![|ii| rbs2[ii].position; SIMD_WIDTH]);
let pos1 = Isometry::from(array![|ii| rbs1[ii].position; SIMD_WIDTH]);
let pos2 = Isometry::from(array![|ii| rbs2[ii].position; SIMD_WIDTH]);
let delta1 = Isometry::from(
array![|ii| if flipped[ii] { manifolds[ii].delta2 } else { manifolds[ii].delta1 }; SIMD_WIDTH],
);
let delta2 = Isometry::from(
array![|ii| if flipped[ii] { manifolds[ii].delta1 } else { manifolds[ii].delta2 }; SIMD_WIDTH],
);
let coll_pos1 = pos1 * delta1;
let coll_pos2 = pos2 * delta2;
let world_com1 = Point::from(array![|ii| rbs1[ii].world_com; SIMD_WIDTH]);
let world_com2 = Point::from(array![|ii| rbs2[ii].world_com; SIMD_WIDTH]);
let force_dir1 = position1
let force_dir1 = coll_pos1
* -Vector::from(
array![|ii| if flipped[ii] { manifolds[ii].local_n2 } else { manifolds[ii].local_n1 }; SIMD_WIDTH],
);
@@ -120,11 +130,11 @@ impl WVelocityGroundConstraint {
};
for k in 0..num_points {
let p1 = position1
let p1 = coll_pos1
* Point::from(
array![|ii| if flipped[ii] { manifold_points[ii][k].local_p2 } else { manifold_points[ii][k].local_p1 }; SIMD_WIDTH],
);
let p2 = position2
let p2 = coll_pos2
* Point::from(
array![|ii| if flipped[ii] { manifold_points[ii][k].local_p1 } else { manifold_points[ii][k].local_p2 }; SIMD_WIDTH],
);