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Outsource the contact manifold, SAT, and some shapes.

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This commit is contained in:
Crozet Sébastien
2020-12-08 17:31:49 +01:00
parent fd3b4801b6
commit 9bf1321f8f
62 changed files with 552 additions and 2904 deletions
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28
src/dynamics/solver/velocity_constraint_wide.rs
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@@ -69,11 +69,11 @@ impl WVelocityConstraint {
push: bool,
) {
let inv_dt = SimdFloat::splat(params.inv_dt());
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 rbs1 = array![|ii| &bodies[manifolds[ii].data.body_pair.body1]; SIMD_WIDTH];
let rbs2 = array![|ii| &bodies[manifolds[ii].data.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 delta1 = Isometry::from(array![|ii| manifolds[ii].data.delta1; SIMD_WIDTH]);
let delta2 = Isometry::from(array![|ii| manifolds[ii].data.delta2; SIMD_WIDTH]);
let im1 = SimdFloat::from(array![|ii| rbs1[ii].mass_properties.inv_mass; SIMD_WIDTH]);
let ii1: AngularInertia<SimdFloat> =
@@ -103,13 +103,13 @@ impl WVelocityConstraint {
let mj_lambda1 = array![|ii| rbs1[ii].active_set_offset; SIMD_WIDTH];
let mj_lambda2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
let friction = SimdFloat::from(array![|ii| manifolds[ii].friction; SIMD_WIDTH]);
let restitution = SimdFloat::from(array![|ii| manifolds[ii].restitution; SIMD_WIDTH]);
let friction = SimdFloat::from(array![|ii| manifolds[ii].data.friction; SIMD_WIDTH]);
let restitution = SimdFloat::from(array![|ii| manifolds[ii].data.restitution; SIMD_WIDTH]);
let restitution_velocity_threshold =
SimdFloat::splat(params.restitution_velocity_threshold);
let warmstart_multiplier =
SimdFloat::from(array![|ii| manifolds[ii].warmstart_multiplier; SIMD_WIDTH]);
SimdFloat::from(array![|ii| manifolds[ii].data.warmstart_multiplier; SIMD_WIDTH]);
let warmstart_coeff = warmstart_multiplier * SimdFloat::splat(params.warmstart_coeff);
for l in (0..manifolds[0].num_active_contacts()).step_by(MAX_MANIFOLD_POINTS) {
@@ -140,7 +140,7 @@ impl WVelocityConstraint {
let dist = SimdFloat::from(array![|ii| manifold_points[ii][k].dist; SIMD_WIDTH]);
let impulse =
SimdFloat::from(array![|ii| manifold_points[ii][k].impulse; SIMD_WIDTH]);
SimdFloat::from(array![|ii| manifold_points[ii][k].data.impulse; SIMD_WIDTH]);
let dp1 = p1 - world_com1;
let dp2 = p2 - world_com2;
@@ -176,11 +176,11 @@ impl WVelocityConstraint {
for j in 0..DIM - 1 {
#[cfg(feature = "dim2")]
let impulse = SimdFloat::from(
array![|ii| manifold_points[ii][k].tangent_impulse; SIMD_WIDTH],
array![|ii| manifold_points[ii][k].data.tangent_impulse; SIMD_WIDTH],
);
#[cfg(feature = "dim3")]
let impulse = SimdFloat::from(
array![|ii| manifold_points[ii][k].tangent_impulse[j]; SIMD_WIDTH],
array![|ii| manifold_points[ii][k].data.tangent_impulse[j]; SIMD_WIDTH],
);
let gcross1 = ii1.transform_vector(dp1.gcross(tangents1[j]));
@@ -202,7 +202,7 @@ impl WVelocityConstraint {
if push {
out_constraints.push(AnyVelocityConstraint::Grouped(constraint));
} else {
out_constraints[manifolds[0].constraint_index + l / MAX_MANIFOLD_POINTS] =
out_constraints[manifolds[0].data.constraint_index + l / MAX_MANIFOLD_POINTS] =
AnyVelocityConstraint::Grouped(constraint);
}
}
@@ -342,15 +342,15 @@ impl WVelocityConstraint {
let manifold = &mut manifolds_all[self.manifold_id[ii]];
let k_base = self.manifold_contact_id;
let active_contacts = manifold.active_contacts_mut();
active_contacts[k_base + k].impulse = impulses[ii];
active_contacts[k_base + k].data.impulse = impulses[ii];
#[cfg(feature = "dim2")]
{
active_contacts[k_base + k].tangent_impulse = tangent_impulses[ii];
active_contacts[k_base + k].data.tangent_impulse = tangent_impulses[ii];
}
#[cfg(feature = "dim3")]
{
active_contacts[k_base + k].tangent_impulse =
active_contacts[k_base + k].data.tangent_impulse =
[tangent_impulses[ii], bitangent_impulses[ii]];
}
}