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First working version of non-linear CCD based on single-substep motion-clamping.

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This commit is contained in:
Crozet Sébastien
2021-03-26 18:16:27 +01:00
parent 326469a1df
commit 97157c9423
29 changed files with 696 additions and 109 deletions
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4
src/dynamics/solver/joint_constraint/ball_position_constraint.rs
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@@ -114,7 +114,7 @@ impl BallPositionGroundConstraint {
// are the local_anchors. The rb1 and rb2 have
// already been flipped by the caller.
Self {
anchor1: rb1.predicted_position * cparams.local_anchor2,
anchor1: rb1.next_position * cparams.local_anchor2,
im2: rb2.effective_inv_mass,
ii2: rb2.effective_world_inv_inertia_sqrt.squared(),
local_anchor2: cparams.local_anchor1,
@@ -123,7 +123,7 @@ impl BallPositionGroundConstraint {
}
} else {
Self {
anchor1: rb1.predicted_position * cparams.local_anchor1,
anchor1: rb1.next_position * cparams.local_anchor1,
im2: rb2.effective_inv_mass,
ii2: rb2.effective_world_inv_inertia_sqrt.squared(),
local_anchor2: cparams.local_anchor2,

2
src/dynamics/solver/joint_constraint/ball_position_constraint_wide.rs
View File

@@ -134,7 +134,7 @@ impl WBallPositionGroundConstraint {
cparams: [&BallJoint; SIMD_WIDTH],
flipped: [bool; SIMD_WIDTH],
) -> Self {
let position1 = Isometry::from(array![|ii| rbs1[ii].predicted_position; SIMD_WIDTH]);
let position1 = Isometry::from(array![|ii| rbs1[ii].next_position; SIMD_WIDTH]);
let anchor1 = position1
* Point::from(array![|ii| if flipped[ii] {
cparams[ii].local_anchor2

4
src/dynamics/solver/joint_constraint/fixed_position_constraint.rs
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@@ -100,10 +100,10 @@ impl FixedPositionGroundConstraint {
let local_anchor2;
if flipped {
anchor1 = rb1.predicted_position * cparams.local_anchor2;
anchor1 = rb1.next_position * cparams.local_anchor2;
local_anchor2 = cparams.local_anchor1;
} else {
anchor1 = rb1.predicted_position * cparams.local_anchor1;
anchor1 = rb1.next_position * cparams.local_anchor1;
local_anchor2 = cparams.local_anchor2;
};

8
src/dynamics/solver/joint_constraint/prismatic_position_constraint.rs
View File

@@ -119,14 +119,14 @@ impl PrismaticPositionGroundConstraint {
let local_axis2;
if flipped {
frame1 = rb1.predicted_position * cparams.local_frame2();
frame1 = rb1.next_position * cparams.local_frame2();
local_frame2 = cparams.local_frame1();
axis1 = rb1.predicted_position * cparams.local_axis2;
axis1 = rb1.next_position * cparams.local_axis2;
local_axis2 = cparams.local_axis1;
} else {
frame1 = rb1.predicted_position * cparams.local_frame1();
frame1 = rb1.next_position * cparams.local_frame1();
local_frame2 = cparams.local_frame2();
axis1 = rb1.predicted_position * cparams.local_axis1;
axis1 = rb1.next_position * cparams.local_axis1;
local_axis2 = cparams.local_axis2;
};

16
src/dynamics/solver/joint_constraint/revolute_position_constraint.rs
View File

@@ -145,23 +145,23 @@ impl RevolutePositionGroundConstraint {
let local_basis2;
if flipped {
anchor1 = rb1.predicted_position * cparams.local_anchor2;
anchor1 = rb1.next_position * cparams.local_anchor2;
local_anchor2 = cparams.local_anchor1;
axis1 = rb1.predicted_position * cparams.local_axis2;
axis1 = rb1.next_position * cparams.local_axis2;
local_axis2 = cparams.local_axis1;
basis1 = [
rb1.predicted_position * cparams.basis2[0],
rb1.predicted_position * cparams.basis2[1],
rb1.next_position * cparams.basis2[0],
rb1.next_position * cparams.basis2[1],
];
local_basis2 = cparams.basis1;
} else {
anchor1 = rb1.predicted_position * cparams.local_anchor1;
anchor1 = rb1.next_position * cparams.local_anchor1;
local_anchor2 = cparams.local_anchor2;
axis1 = rb1.predicted_position * cparams.local_axis1;
axis1 = rb1.next_position * cparams.local_axis1;
local_axis2 = cparams.local_axis2;
basis1 = [
rb1.predicted_position * cparams.basis1[0],
rb1.predicted_position * cparams.basis1[1],
rb1.next_position * cparams.basis1[0],
rb1.next_position * cparams.basis1[1],
];
local_basis2 = cparams.basis2;
};