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Outsource the Shape trait, wquadtree, and shape types.

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This commit is contained in:
Crozet Sébastien
2020-12-14 15:51:43 +01:00
parent 9bf1321f8f
commit cc6d1b9730
47 changed files with 444 additions and 3363 deletions
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64
src/dynamics/solver/joint_constraint/ball_velocity_constraint_wide.rs
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@@ -3,7 +3,7 @@ use crate::dynamics::{
BallJoint, IntegrationParameters, JointGraphEdge, JointIndex, JointParams, RigidBody,
};
use crate::math::{
AngVector, AngularInertia, Isometry, Point, SdpMatrix, SimdFloat, Vector, SIMD_WIDTH,
AngVector, AngularInertia, Isometry, Point, SdpMatrix, SimdReal, Vector, SIMD_WIDTH,
};
use crate::utils::{WAngularInertia, WCross, WCrossMatrix};
use simba::simd::SimdValue;
@@ -15,16 +15,16 @@ pub(crate) struct WBallVelocityConstraint {
joint_id: [JointIndex; SIMD_WIDTH],
rhs: Vector<SimdFloat>,
pub(crate) impulse: Vector<SimdFloat>,
rhs: Vector<SimdReal>,
pub(crate) impulse: Vector<SimdReal>,
gcross1: Vector<SimdFloat>,
gcross2: Vector<SimdFloat>,
gcross1: Vector<SimdReal>,
gcross2: Vector<SimdReal>,
inv_lhs: SdpMatrix<SimdFloat>,
inv_lhs: SdpMatrix<SimdReal>,
im1: SimdFloat,
im2: SimdFloat,
im1: SimdReal,
im2: SimdReal,
}
impl WBallVelocityConstraint {
@@ -37,20 +37,20 @@ impl WBallVelocityConstraint {
) -> Self {
let position1 = Isometry::from(array![|ii| rbs1[ii].position; SIMD_WIDTH]);
let linvel1 = Vector::from(array![|ii| rbs1[ii].linvel; SIMD_WIDTH]);
let angvel1 = AngVector::<SimdFloat>::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]);
let angvel1 = AngVector::<SimdReal>::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]);
let world_com1 = Point::from(array![|ii| rbs1[ii].world_com; SIMD_WIDTH]);
let im1 = SimdFloat::from(array![|ii| rbs1[ii].mass_properties.inv_mass; SIMD_WIDTH]);
let ii1_sqrt = AngularInertia::<SimdFloat>::from(
let im1 = SimdReal::from(array![|ii| rbs1[ii].mass_properties.inv_mass; SIMD_WIDTH]);
let ii1_sqrt = AngularInertia::<SimdReal>::from(
array![|ii| rbs1[ii].world_inv_inertia_sqrt; SIMD_WIDTH],
);
let mj_lambda1 = array![|ii| rbs1[ii].active_set_offset; SIMD_WIDTH];
let position2 = Isometry::from(array![|ii| rbs2[ii].position; SIMD_WIDTH]);
let linvel2 = Vector::from(array![|ii| rbs2[ii].linvel; SIMD_WIDTH]);
let angvel2 = AngVector::<SimdFloat>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]);
let angvel2 = AngVector::<SimdReal>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]);
let world_com2 = Point::from(array![|ii| rbs2[ii].world_com; SIMD_WIDTH]);
let im2 = SimdFloat::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
let ii2_sqrt = AngularInertia::<SimdFloat>::from(
let im2 = SimdReal::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
let ii2_sqrt = AngularInertia::<SimdReal>::from(
array![|ii| rbs2[ii].world_inv_inertia_sqrt; SIMD_WIDTH],
);
let mj_lambda2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
@@ -62,8 +62,8 @@ impl WBallVelocityConstraint {
let anchor1 = position1 * local_anchor1 - world_com1;
let anchor2 = position2 * local_anchor2 - world_com2;
let vel1: Vector<SimdFloat> = linvel1 + angvel1.gcross(anchor1);
let vel2: Vector<SimdFloat> = linvel2 + angvel2.gcross(anchor2);
let vel1: Vector<SimdReal> = linvel1 + angvel1.gcross(anchor1);
let vel2: Vector<SimdReal> = linvel2 + angvel2.gcross(anchor2);
let rhs = -(vel1 - vel2);
let lhs;
@@ -99,7 +99,7 @@ impl WBallVelocityConstraint {
mj_lambda2,
im1,
im2,
impulse: impulse * SimdFloat::splat(params.warmstart_coeff),
impulse: impulse * SimdReal::splat(params.warmstart_coeff),
gcross1,
gcross2,
rhs,
@@ -141,7 +141,7 @@ impl WBallVelocityConstraint {
}
pub fn solve(&mut self, mj_lambdas: &mut [DeltaVel<f32>]) {
let mut mj_lambda1: DeltaVel<SimdFloat> = DeltaVel {
let mut mj_lambda1: DeltaVel<SimdReal> = DeltaVel {
linear: Vector::from(
array![|ii| mj_lambdas[self.mj_lambda1[ii] as usize].linear; SIMD_WIDTH],
),
@@ -149,7 +149,7 @@ impl WBallVelocityConstraint {
array![|ii| mj_lambdas[self.mj_lambda1[ii] as usize].angular; SIMD_WIDTH],
),
};
let mut mj_lambda2: DeltaVel<SimdFloat> = DeltaVel {
let mut mj_lambda2: DeltaVel<SimdReal> = DeltaVel {
linear: Vector::from(
array![|ii| mj_lambdas[self.mj_lambda2[ii] as usize].linear; SIMD_WIDTH],
),
@@ -195,11 +195,11 @@ impl WBallVelocityConstraint {
pub(crate) struct WBallVelocityGroundConstraint {
mj_lambda2: [usize; SIMD_WIDTH],
joint_id: [JointIndex; SIMD_WIDTH],
rhs: Vector<SimdFloat>,
pub(crate) impulse: Vector<SimdFloat>,
gcross2: Vector<SimdFloat>,
inv_lhs: SdpMatrix<SimdFloat>,
im2: SimdFloat,
rhs: Vector<SimdReal>,
pub(crate) impulse: Vector<SimdReal>,
gcross2: Vector<SimdReal>,
inv_lhs: SdpMatrix<SimdReal>,
im2: SimdReal,
}
impl WBallVelocityGroundConstraint {
@@ -213,7 +213,7 @@ impl WBallVelocityGroundConstraint {
) -> Self {
let position1 = Isometry::from(array![|ii| rbs1[ii].position; SIMD_WIDTH]);
let linvel1 = Vector::from(array![|ii| rbs1[ii].linvel; SIMD_WIDTH]);
let angvel1 = AngVector::<SimdFloat>::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]);
let angvel1 = AngVector::<SimdReal>::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]);
let world_com1 = Point::from(array![|ii| rbs1[ii].world_com; SIMD_WIDTH]);
let local_anchor1 = Point::from(
array![|ii| if flipped[ii] { cparams[ii].local_anchor2 } else { cparams[ii].local_anchor1 }; SIMD_WIDTH],
@@ -221,10 +221,10 @@ impl WBallVelocityGroundConstraint {
let position2 = Isometry::from(array![|ii| rbs2[ii].position; SIMD_WIDTH]);
let linvel2 = Vector::from(array![|ii| rbs2[ii].linvel; SIMD_WIDTH]);
let angvel2 = AngVector::<SimdFloat>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]);
let angvel2 = AngVector::<SimdReal>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]);
let world_com2 = Point::from(array![|ii| rbs2[ii].world_com; SIMD_WIDTH]);
let im2 = SimdFloat::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
let ii2_sqrt = AngularInertia::<SimdFloat>::from(
let im2 = SimdReal::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
let ii2_sqrt = AngularInertia::<SimdReal>::from(
array![|ii| rbs2[ii].world_inv_inertia_sqrt; SIMD_WIDTH],
);
let mj_lambda2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
@@ -237,8 +237,8 @@ impl WBallVelocityGroundConstraint {
let anchor1 = position1 * local_anchor1 - world_com1;
let anchor2 = position2 * local_anchor2 - world_com2;
let vel1: Vector<SimdFloat> = linvel1 + angvel1.gcross(anchor1);
let vel2: Vector<SimdFloat> = linvel2 + angvel2.gcross(anchor2);
let vel1: Vector<SimdReal> = linvel1 + angvel1.gcross(anchor1);
let vel2: Vector<SimdReal> = linvel2 + angvel2.gcross(anchor2);
let rhs = vel2 - vel1;
let lhs;
@@ -267,7 +267,7 @@ impl WBallVelocityGroundConstraint {
joint_id,
mj_lambda2,
im2,
impulse: impulse * SimdFloat::splat(params.warmstart_coeff),
impulse: impulse * SimdReal::splat(params.warmstart_coeff),
gcross2,
rhs,
inv_lhs,
@@ -294,7 +294,7 @@ impl WBallVelocityGroundConstraint {
}
pub fn solve(&mut self, mj_lambdas: &mut [DeltaVel<f32>]) {
let mut mj_lambda2: DeltaVel<SimdFloat> = DeltaVel {
let mut mj_lambda2: DeltaVel<SimdReal> = DeltaVel {
linear: Vector::from(
array![|ii| mj_lambdas[self.mj_lambda2[ii] as usize].linear; SIMD_WIDTH],
),