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Complete the implementation of non-simd joint motor for the revolute joint.

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This commit is contained in:
Crozet Sébastien
2021-02-19 15:21:25 +01:00
parent a1ddda5077
commit e9f17f32e8
14 changed files with 483 additions and 343 deletions
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122
src/dynamics/solver/joint_constraint/revolute_velocity_constraint.rs
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@@ -1,11 +1,11 @@
use crate::dynamics::solver::{AnyJointVelocityConstraint, AnyVelocityConstraint, DeltaVel};
use crate::dynamics::{
GenericJoint, IntegrationParameters, JointGraphEdge, JointIndex, JointParams, RevoluteJoint,
RigidBody,
IntegrationParameters, JointGraphEdge, JointIndex, JointParams, RevoluteJoint, RigidBody,
};
use crate::math::{AngularInertia, Real, Rotation, Vector};
use crate::na::UnitQuaternion;
use crate::utils::{WAngularInertia, WCross, WCrossMatrix};
use downcast_rs::Downcast;
use na::{Cholesky, Matrix3, Matrix3x2, Matrix5, RealField, Vector5, U2, U3};
#[derive(Debug)]
@@ -26,6 +26,7 @@ pub(crate) struct RevoluteVelocityConstraint {
motor_rhs: Real,
motor_impulse: Real,
motor_max_impulse: Real,
motor_angle: Real, // Exists only to write it back into the joint.
motor_axis1: Vector<Real>,
motor_axis2: Vector<Real>,
@@ -47,7 +48,7 @@ impl RevoluteVelocityConstraint {
rb1: &RigidBody,
rb2: &RigidBody,
joint: &RevoluteJoint,
) -> AnyJointVelocityConstraint {
) -> Self {
// Linear part.
let anchor1 = rb1.position * joint.local_anchor1;
let anchor2 = rb2.position * joint.local_anchor2;
@@ -100,16 +101,35 @@ impl RevoluteVelocityConstraint {
let motor_axis2 = rb2.position * *joint.local_axis2;
let mut motor_rhs = 0.0;
let mut motor_inv_lhs = 0.0;
let mut motor_max_impulse = 0.0;
let mut motor_max_impulse = joint.motor_max_impulse;
let mut motor_angle = 0.0;
if let Some(motor_target_vel) = joint.motor_target_vel {
motor_rhs =
rb2.angvel.dot(&motor_axis1) - rb1.angvel.dot(&motor_axis1) - motor_target_vel;
motor_inv_lhs = crate::utils::inv(
motor_axis2.dot(&ii2.transform_vector(motor_axis2))
+ motor_axis1.dot(&ii1.transform_vector(motor_axis1)),
);
motor_max_impulse = joint.motor_max_torque;
let (stiffness, damping, gamma, keep_lhs) = joint.motor_model.combine_coefficients(
params.dt,
joint.motor_stiffness,
joint.motor_damping,
);
if stiffness != 0.0 {
motor_angle = joint.estimate_motor_angle(&rb1.position, &rb2.position);
motor_rhs += (motor_angle - joint.motor_target_pos) * stiffness;
}
if damping != 0.0 {
let curr_vel = rb2.angvel.dot(&motor_axis2) - rb1.angvel.dot(&motor_axis1);
motor_rhs += (curr_vel - joint.motor_target_vel) * damping;
}
if stiffness != 0.0 || damping != 0.0 {
motor_inv_lhs = if keep_lhs {
crate::utils::inv(
motor_axis2.dot(&ii2.transform_vector(motor_axis2))
+ motor_axis1.dot(&ii1.transform_vector(motor_axis1)),
) * gamma
} else {
gamma
};
motor_rhs /= gamma;
}
/*
@@ -125,8 +145,10 @@ impl RevoluteVelocityConstraint {
let rotated_impulse = basis1.tr_mul(&(axis_rot * joint.world_ang_impulse));
impulse[3] = rotated_impulse.x * params.warmstart_coeff;
impulse[4] = rotated_impulse.y * params.warmstart_coeff;
let motor_impulse = na::clamp(joint.motor_impulse, -motor_max_impulse, motor_max_impulse)
* params.warmstart_coeff;
let result = RevoluteVelocityConstraint {
RevoluteVelocityConstraint {
joint_id,
mj_lambda1: rb1.active_set_offset,
mj_lambda2: rb2.active_set_offset,
@@ -146,10 +168,9 @@ impl RevoluteVelocityConstraint {
motor_max_impulse,
motor_axis1,
motor_axis2,
motor_impulse: joint.motor_impulse * params.warmstart_coeff,
};
AnyJointVelocityConstraint::RevoluteConstraint(result)
motor_impulse,
motor_angle,
}
}
pub fn warmstart(&self, mj_lambdas: &mut [DeltaVel<Real>]) {
@@ -174,7 +195,7 @@ impl RevoluteVelocityConstraint {
/*
* Motor
*/
{
if self.motor_inv_lhs != 0.0 {
mj_lambda1.angular += self
.ii1_sqrt
.transform_vector(self.motor_axis1 * self.motor_impulse);
@@ -224,8 +245,14 @@ impl RevoluteVelocityConstraint {
let ang_vel2 = self.ii2_sqrt.transform_vector(mj_lambda2.angular);
let ang_dvel = ang_vel2.dot(&self.motor_axis2) - ang_vel1.dot(&self.motor_axis1);
let rhs = ang_dvel + self.motor_rhs;
let impulse = self.motor_inv_lhs * rhs;
self.motor_impulse += impulse;
let new_motor_impulse = na::clamp(
self.motor_impulse + self.motor_inv_lhs * rhs,
-self.motor_max_impulse,
self.motor_max_impulse,
);
let impulse = new_motor_impulse - self.motor_impulse;
self.motor_impulse = new_motor_impulse;
mj_lambda1.angular += self.ii1_sqrt.transform_vector(self.motor_axis1 * impulse);
mj_lambda2.angular -= self.ii2_sqrt.transform_vector(self.motor_axis2 * impulse);
@@ -242,6 +269,7 @@ impl RevoluteVelocityConstraint {
let rot_part = self.impulse.fixed_rows::<U2>(3).into_owned();
revolute.world_ang_impulse = self.basis1 * rot_part;
revolute.prev_axis1 = self.motor_axis1;
revolute.motor_last_angle = self.motor_angle;
revolute.motor_impulse = self.motor_impulse;
}
}
@@ -264,6 +292,7 @@ pub(crate) struct RevoluteVelocityGroundConstraint {
motor_rhs: Real,
motor_impulse: Real,
motor_max_impulse: Real,
motor_angle: Real, // Exists just for writing it into the joint.
basis2: Matrix3x2<Real>,
@@ -328,18 +357,41 @@ impl RevoluteVelocityGroundConstraint {
/*
* Motor part.
*/
let motor_axis1 = rb1.position * *joint.local_axis1;
let motor_axis2 = rb2.position * *joint.local_axis2;
let mut motor_rhs = 0.0;
let mut motor_inv_lhs = 0.0;
let mut motor_max_impulse = 0.0;
let mut motor_axis2 = Vector::zeros();
let mut motor_max_impulse = joint.motor_max_impulse;
let mut motor_angle = 0.0;
if let Some(motor_target_vel) = joint.motor_target_vel {
motor_axis2 = rb2.position * *joint.local_axis2;
motor_rhs = rb2.angvel.dot(&motor_axis2) - motor_target_vel;
motor_inv_lhs = crate::utils::inv(motor_axis2.dot(&ii2.transform_vector(motor_axis2)));
motor_max_impulse = joint.motor_max_torque;
let (stiffness, damping, gamma, keep_lhs) = joint.motor_model.combine_coefficients(
params.dt,
joint.motor_stiffness,
joint.motor_damping,
);
if stiffness != 0.0 {
motor_angle = joint.estimate_motor_angle(&rb1.position, &rb2.position);
motor_rhs += (motor_angle - joint.motor_target_pos) * stiffness;
}
if damping != 0.0 {
let curr_vel = rb2.angvel.dot(&motor_axis2) - rb1.angvel.dot(&motor_axis1);
motor_rhs += (curr_vel - joint.motor_target_vel) * damping;
}
if stiffness != 0.0 || damping != 0.0 {
motor_inv_lhs = if keep_lhs {
crate::utils::inv(motor_axis2.dot(&ii2.transform_vector(motor_axis2))) * gamma
} else {
gamma
};
motor_rhs /= gamma;
}
let motor_impulse = na::clamp(joint.motor_impulse, -motor_max_impulse, motor_max_impulse)
* params.warmstart_coeff;
let result = RevoluteVelocityGroundConstraint {
joint_id,
mj_lambda2: rb2.active_set_offset,
@@ -351,10 +403,11 @@ impl RevoluteVelocityGroundConstraint {
rhs,
r2,
motor_inv_lhs,
motor_impulse: joint.motor_impulse,
motor_impulse,
motor_axis2,
motor_max_impulse,
motor_rhs,
motor_angle,
};
AnyJointVelocityConstraint::RevoluteGroundConstraint(result)
@@ -374,7 +427,7 @@ impl RevoluteVelocityGroundConstraint {
/*
* Motor
*/
{
if self.motor_inv_lhs != 0.0 {
mj_lambda2.angular -= self
.ii2_sqrt
.transform_vector(self.motor_axis2 * self.motor_impulse);
@@ -410,8 +463,14 @@ impl RevoluteVelocityGroundConstraint {
let ang_vel2 = self.ii2_sqrt.transform_vector(mj_lambda2.angular);
let ang_dvel = ang_vel2.dot(&self.motor_axis2);
let rhs = ang_dvel + self.motor_rhs;
let impulse = self.motor_inv_lhs * rhs;
self.motor_impulse += impulse;
let new_motor_impulse = na::clamp(
self.motor_impulse + self.motor_inv_lhs * rhs,
-self.motor_max_impulse,
self.motor_max_impulse,
);
let impulse = new_motor_impulse - self.motor_impulse;
self.motor_impulse = new_motor_impulse;
mj_lambda2.angular -= self.ii2_sqrt.transform_vector(self.motor_axis2 * impulse);
}
@@ -425,6 +484,7 @@ impl RevoluteVelocityGroundConstraint {
if let JointParams::RevoluteJoint(revolute) = &mut joint.params {
revolute.impulse = self.impulse;
revolute.motor_impulse = self.motor_impulse;
revolute.motor_last_angle = self.motor_angle;
}
}
}