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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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59
src/dynamics/solver/velocity_ground_constraint_wide.rs
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@@ -2,7 +2,7 @@ use super::{AnyVelocityConstraint, DeltaVel};
use crate::dynamics::{IntegrationParameters, RigidBodySet};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
use crate::math::{
AngVector, AngularInertia, Isometry, Point, SimdFloat, Vector, DIM, MAX_MANIFOLD_POINTS,
AngVector, AngularInertia, Isometry, Point, SimdReal, Vector, DIM, MAX_MANIFOLD_POINTS,
SIMD_WIDTH,
};
use crate::utils::{WAngularInertia, WBasis, WCross, WDot};
@@ -11,19 +11,19 @@ use simba::simd::{SimdPartialOrd, SimdValue};
#[derive(Copy, Clone, Debug)]
pub(crate) struct WVelocityGroundConstraintElementPart {
pub gcross2: AngVector<SimdFloat>,
pub rhs: SimdFloat,
pub impulse: SimdFloat,
pub r: SimdFloat,
pub gcross2: AngVector<SimdReal>,
pub rhs: SimdReal,
pub impulse: SimdReal,
pub r: SimdReal,
}
impl WVelocityGroundConstraintElementPart {
pub fn zero() -> Self {
Self {
gcross2: AngVector::zero(),
rhs: SimdFloat::zero(),
impulse: SimdFloat::zero(),
r: SimdFloat::zero(),
rhs: SimdReal::zero(),
impulse: SimdReal::zero(),
r: SimdReal::zero(),
}
}
}
@@ -45,11 +45,11 @@ impl WVelocityGroundConstraintElement {
#[derive(Copy, Clone, Debug)]
pub(crate) struct WVelocityGroundConstraint {
pub dir1: Vector<SimdFloat>, // Non-penetration force direction for the first body.
pub dir1: Vector<SimdReal>, // Non-penetration force direction for the first body.
pub elements: [WVelocityGroundConstraintElement; MAX_MANIFOLD_POINTS],
pub num_contacts: u8,
pub im2: SimdFloat,
pub limit: SimdFloat,
pub im2: SimdReal,
pub limit: SimdReal,
pub mj_lambda2: [usize; SIMD_WIDTH],
pub manifold_id: [ContactManifoldIndex; SIMD_WIDTH],
pub manifold_contact_id: usize,
@@ -64,7 +64,7 @@ impl WVelocityGroundConstraint {
out_constraints: &mut Vec<AnyVelocityConstraint>,
push: bool,
) {
let inv_dt = SimdFloat::splat(params.inv_dt());
let inv_dt = SimdReal::splat(params.inv_dt());
let mut rbs1 = array![|ii| &bodies[manifolds[ii].data.body_pair.body1]; SIMD_WIDTH];
let mut rbs2 = array![|ii| &bodies[manifolds[ii].data.body_pair.body2]; SIMD_WIDTH];
let mut flipped = [false; SIMD_WIDTH];
@@ -76,15 +76,15 @@ impl WVelocityGroundConstraint {
}
}
let im2 = SimdFloat::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
let ii2: AngularInertia<SimdFloat> =
let im2 = SimdReal::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
let ii2: AngularInertia<SimdReal> =
AngularInertia::from(array![|ii| rbs2[ii].world_inv_inertia_sqrt; 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 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 pos1 = Isometry::from(array![|ii| rbs1[ii].position; SIMD_WIDTH]);
let pos2 = Isometry::from(array![|ii| rbs2[ii].position; SIMD_WIDTH]);
@@ -109,14 +109,13 @@ impl WVelocityGroundConstraint {
let mj_lambda2 = array![|ii| rbs2[ii].active_set_offset; 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 friction = SimdReal::from(array![|ii| manifolds[ii].data.friction; SIMD_WIDTH]);
let restitution = SimdReal::from(array![|ii| manifolds[ii].data.restitution; SIMD_WIDTH]);
let restitution_velocity_threshold = SimdReal::splat(params.restitution_velocity_threshold);
let warmstart_multiplier =
SimdFloat::from(array![|ii| manifolds[ii].data.warmstart_multiplier; SIMD_WIDTH]);
let warmstart_coeff = warmstart_multiplier * SimdFloat::splat(params.warmstart_coeff);
SimdReal::from(array![|ii| manifolds[ii].data.warmstart_multiplier; SIMD_WIDTH]);
let warmstart_coeff = warmstart_multiplier * SimdReal::splat(params.warmstart_coeff);
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];
@@ -143,10 +142,10 @@ impl WVelocityGroundConstraint {
array![|ii| if flipped[ii] { manifold_points[ii][k].local_p1 } else { manifold_points[ii][k].local_p2 }; SIMD_WIDTH],
);
let dist = SimdFloat::from(array![|ii| manifold_points[ii][k].dist; SIMD_WIDTH]);
let dist = SimdReal::from(array![|ii| manifold_points[ii][k].dist; SIMD_WIDTH]);
let impulse =
SimdFloat::from(array![|ii| manifold_points[ii][k].data.impulse; SIMD_WIDTH]);
SimdReal::from(array![|ii| manifold_points[ii][k].data.impulse; SIMD_WIDTH]);
let dp1 = p1 - world_com1;
let dp2 = p2 - world_com2;
@@ -157,12 +156,12 @@ impl WVelocityGroundConstraint {
{
let gcross2 = ii2.transform_vector(dp2.gcross(-force_dir1));
let r = SimdFloat::splat(1.0) / (im2 + gcross2.gdot(gcross2));
let r = SimdReal::splat(1.0) / (im2 + gcross2.gdot(gcross2));
let mut rhs = (vel1 - vel2).dot(&force_dir1);
let use_restitution = rhs.simd_le(-restitution_velocity_threshold);
let rhs_with_restitution = rhs + rhs * restitution;
rhs = rhs_with_restitution.select(use_restitution, rhs);
rhs += dist.simd_max(SimdFloat::zero()) * inv_dt;
rhs += dist.simd_max(SimdReal::zero()) * inv_dt;
constraint.elements[k].normal_part = WVelocityGroundConstraintElementPart {
gcross2,
@@ -177,16 +176,16 @@ impl WVelocityGroundConstraint {
for j in 0..DIM - 1 {
#[cfg(feature = "dim2")]
let impulse = SimdFloat::from(
let impulse = SimdReal::from(
array![|ii| manifold_points[ii][k].data.tangent_impulse; SIMD_WIDTH],
);
#[cfg(feature = "dim3")]
let impulse = SimdFloat::from(
let impulse = SimdReal::from(
array![|ii| manifold_points[ii][k].data.tangent_impulse[j]; SIMD_WIDTH],
);
let gcross2 = ii2.transform_vector(dp2.gcross(-tangents1[j]));
let r = SimdFloat::splat(1.0) / (im2 + gcross2.gdot(gcross2));
let r = SimdReal::splat(1.0) / (im2 + gcross2.gdot(gcross2));
let rhs = -vel2.dot(&tangents1[j]) + vel1.dot(&tangents1[j]);
constraint.elements[k].tangent_parts[j] =
@@ -274,7 +273,7 @@ impl WVelocityGroundConstraint {
let elt = &mut self.elements[i].normal_part;
let dimpulse =
-self.dir1.dot(&mj_lambda2.linear) + elt.gcross2.gdot(mj_lambda2.angular) + elt.rhs;
let new_impulse = (elt.impulse - elt.r * dimpulse).simd_max(SimdFloat::zero());
let new_impulse = (elt.impulse - elt.r * dimpulse).simd_max(SimdReal::zero());
let dlambda = new_impulse - elt.impulse;
elt.impulse = new_impulse;