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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
View File

@@ -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
View File

@@ -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],
);

24
src/geometry/contact.rs
View File

@@ -273,16 +273,21 @@ pub struct ContactManifold {
/// The pair of subshapes involved in this contact manifold.
pub subshape_index_pair: (usize, usize),
pub(crate) warmstart_multiplier: f32,
// We put the friction and restitution here because
// this avoids reading the colliders inside of the
// The two following are set by the constraints solver.
pub(crate) constraint_index: usize,
pub(crate) position_constraint_index: usize,
// We put the following fields here to avoids reading the colliders inside of the
// contact preparation method.
/// The friction coefficient for of all the contacts on this contact manifold.
pub friction: f32,
/// The restitution coefficient for all the contacts on this contact manifold.
pub restitution: f32,
// The following are set by the constraints solver.
pub(crate) constraint_index: usize,
pub(crate) position_constraint_index: usize,
/// The relative position between the first collider and its parent at the time the
/// contact points were generated.
pub delta1: Isometry<f32>,
/// The relative position between the second collider and its parent at the time the
/// contact points were generated.
pub delta2: Isometry<f32>,
}
impl ContactManifold {
@@ -290,6 +295,8 @@ impl ContactManifold {
pair: ColliderPair,
subshapes: (usize, usize),
body_pair: BodyPair,
delta1: Isometry<f32>,
delta2: Isometry<f32>,
friction: f32,
restitution: f32,
) -> ContactManifold {
@@ -308,6 +315,8 @@ impl ContactManifold {
warmstart_multiplier: Self::min_warmstart_multiplier(),
friction,
restitution,
delta1,
delta2,
constraint_index: 0,
position_constraint_index: 0,
}
@@ -329,6 +338,8 @@ impl ContactManifold {
warmstart_multiplier: self.warmstart_multiplier,
friction: self.friction,
restitution: self.restitution,
delta1: self.delta1,
delta2: self.delta2,
constraint_index: self.constraint_index,
position_constraint_index: self.position_constraint_index,
}
@@ -349,6 +360,8 @@ impl ContactManifold {
pair,
(subshape1, subshape2),
BodyPair::new(coll1.parent, coll2.parent),
*coll1.delta(),
*coll2.delta(),
(coll1.friction + coll2.friction) * 0.5,
(coll1.restitution + coll2.restitution) * 0.5,
)
@@ -391,6 +404,7 @@ impl ContactManifold {
self.pair = self.pair.swap();
self.body_pair = self.body_pair.swap();
self.subshape_index_pair = (self.subshape_index_pair.1, self.subshape_index_pair.0);
std::mem::swap(&mut self.delta1, &mut self.delta2);
}
pub(crate) fn update_warmstart_multiplier(&mut self) {

38
src/geometry/contact_generator/cuboid_cuboid_contact_generator.rs
View File

@@ -10,10 +10,8 @@ pub fn generate_contacts_cuboid_cuboid(ctxt: &mut PrimitiveContactGenerationCont
generate_contacts(
ctxt.prediction_distance,
cube1,
ctxt.collider1.position_wrt_parent(),
ctxt.position1,
cube2,
ctxt.collider2.position_wrt_parent(),
ctxt.position2,
ctxt.manifold,
);
@@ -28,19 +26,15 @@ pub fn generate_contacts_cuboid_cuboid(ctxt: &mut PrimitiveContactGenerationCont
pub fn generate_contacts<'a>(
prediction_distance: f32,
mut cube1: &'a Cuboid<f32>,
mut origin1: &'a Isometry<f32>,
mut pos1: &'a Isometry<f32>,
mut cube2: &'a Cuboid<f32>,
mut origin2: &'a Isometry<f32>,
mut pos2: &'a Isometry<f32>,
manifold: &mut ContactManifold,
) {
let mut pos12 = pos1.inverse() * pos2;
let mut pos21 = pos12.inverse();
let mut orig_pos12 = origin1 * pos12 * origin2.inverse();
let mut orig_pos21 = orig_pos12.inverse();
if manifold.try_update_contacts(&orig_pos12) {
if manifold.try_update_contacts(&pos12) {
return;
}
@@ -87,9 +81,8 @@ pub fn generate_contacts<'a>(
if sep2.0 > sep1.0 && sep2.0 > sep3.0 {
// The reference shape will be the second shape.
std::mem::swap(&mut cube1, &mut cube2);
std::mem::swap(&mut pos1, &mut pos2);
std::mem::swap(&mut pos12, &mut pos21);
std::mem::swap(&mut orig_pos12, &mut orig_pos21);
std::mem::swap(&mut origin1, &mut origin2);
manifold.swap_identifiers();
best_sep = sep2;
swapped = true;
@@ -104,49 +97,46 @@ pub fn generate_contacts<'a>(
// Now the reference feature is from `cube1` and the best separation is `best_sep`.
// Everything must be expressed in the local-space of `cube1` for contact clipping.
let mut feature1 = cuboid::support_feature(cube1, best_sep.1);
feature1.transform_by(origin1);
let feature1 = cuboid::support_feature(cube1, best_sep.1);
let mut feature2 = cuboid::support_feature(cube2, pos21 * -best_sep.1);
feature2.transform_by(&pos12);
feature2.transform_by(origin1);
let n1 = origin1 * best_sep.1;
match (&feature1, &feature2) {
(CuboidFeature::Face(f1), CuboidFeature::Vertex(v2)) => {
CuboidFeature::face_vertex_contacts(f1, &n1, v2, &orig_pos21, manifold)
CuboidFeature::face_vertex_contacts(f1, &best_sep.1, v2, &pos21, manifold)
}
#[cfg(feature = "dim3")]
(CuboidFeature::Face(f1), CuboidFeature::Edge(e2)) => CuboidFeature::face_edge_contacts(
prediction_distance,
f1,
&n1,
&best_sep.1,
e2,
&orig_pos21,
&pos21,
manifold,
false,
),
(CuboidFeature::Face(f1), CuboidFeature::Face(f2)) => CuboidFeature::face_face_contacts(
prediction_distance,
f1,
&n1,
&best_sep.1,
f2,
&orig_pos21,
&pos21,
manifold,
),
#[cfg(feature = "dim3")]
(CuboidFeature::Edge(e1), CuboidFeature::Edge(e2)) => {
CuboidFeature::edge_edge_contacts(e1, &n1, e2, &orig_pos21, manifold)
CuboidFeature::edge_edge_contacts(e1, &best_sep.1, e2, &pos21, manifold)
}
#[cfg(feature = "dim3")]
(CuboidFeature::Edge(e1), CuboidFeature::Face(f2)) => {
// Since f2 is also expressed in the local-space of the first
// feature, the position we provide here is orig_pos21.
// feature, the position we provide here is pos21.
CuboidFeature::face_edge_contacts(
prediction_distance,
f2,
&-n1,
&-best_sep.1,
e1,
&orig_pos21,
&pos21,
manifold,
true,
)
@@ -154,8 +144,8 @@ pub fn generate_contacts<'a>(
_ => unreachable!(), // The other cases are not possible.
}
manifold.local_n1 = n1;
manifold.local_n2 = orig_pos21 * -n1;
manifold.local_n1 = best_sep.1;
manifold.local_n2 = pos21 * -best_sep.1;
manifold.kinematics.category = KinematicsCategory::PlanePoint;
manifold.kinematics.radius1 = 0.0;
manifold.kinematics.radius2 = 0.0;

2
src_testbed/nphysics_backend.rs
View File

@@ -13,7 +13,7 @@ use rapier::dynamics::{
IntegrationParameters, JointParams, JointSet, RigidBodyHandle, RigidBodySet,
};
use rapier::geometry::{Collider, ColliderSet, Shape};
use rapier::math::{Isometry, Vector};
use rapier::math::Vector;
use std::collections::HashMap;
#[cfg(feature = "dim3")]
use {ncollide::shape::TriMesh, nphysics::joint::BallConstraint};