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Implement multibody joints and the new solver

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This commit is contained in:
Sébastien Crozet
2022-01-02 14:47:40 +01:00
parent b45d4b5ac2
commit f74b8401ad
182 changed files with 9871 additions and 12645 deletions
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96
src/dynamics/integration_parameters.rs
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@@ -18,18 +18,6 @@ pub struct IntegrationParameters {
/// to numerical instabilities.
pub min_ccd_dt: Real,
/// The Error Reduction Parameter in `[0, 1]` is the proportion of
/// the positional error to be corrected at each time step (default: `0.2`).
pub erp: Real,
/// The Error Reduction Parameter for joints in `[0, 1]` is the proportion of
/// the positional error to be corrected at each time step (default: `0.2`).
pub joint_erp: Real,
/// Each cached impulse are multiplied by this coefficient in `[0, 1]`
/// when they are re-used to initialize the solver (default `1.0`).
pub warmstart_coeff: Real,
/// Correction factor to avoid large warmstart impulse after a strong impact (default `10.0`).
pub warmstart_correction_slope: Real,
/// 0-1: how much of the velocity to dampen out in the constraint solver?
/// (default `1.0`).
pub velocity_solve_fraction: Real,
@@ -40,23 +28,21 @@ pub struct IntegrationParameters {
/// If non-zero, you do not need the positional solver.
/// A good non-zero value is around `0.2`.
/// (default `0.0`).
pub velocity_based_erp: Real,
pub erp: Real,
/// Amount of penetration the engine wont attempt to correct (default: `0.005m`).
/// Amount of penetration the engine wont attempt to correct (default: `0.001m`).
pub allowed_linear_error: Real,
/// The maximal distance separating two objects that will generate predictive contacts (default: `0.002`).
pub prediction_distance: Real,
/// Amount of angular drift of joint limits the engine wont
/// attempt to correct (default: `0.001rad`).
pub allowed_angular_error: Real,
/// Maximum linear correction during one step of the non-linear position solver (default: `0.2`).
pub max_linear_correction: Real,
/// Maximum angular correction during one step of the non-linear position solver (default: `0.2`).
pub max_angular_correction: Real,
/// Maximum number of iterations performed by the velocity constraints solver (default: `4`).
/// Maximum number of iterations performed to solve non-penetration and joint constraints (default: `4`).
pub max_velocity_iterations: usize,
/// Maximum number of iterations performed by the position-based constraints solver (default: `1`).
pub max_position_iterations: usize,
/// Maximum number of iterations performed to solve friction constraints (default: `8`).
pub max_velocity_friction_iterations: usize,
/// Maximum number of iterations performed to remove the energy introduced by penetration corrections (default: `1`).
pub max_stabilization_iterations: usize,
/// If `false`, friction and non-penetration constraints will be solved in the same loop. Otherwise,
/// non-penetration constraints are solved first, and friction constraints are solved after (default: `true`).
pub interleave_restitution_and_friction_resolution: bool,
/// Minimum number of dynamic bodies in each active island (default: `128`).
pub min_island_size: usize,
/// Maximum number of substeps performed by the solver (default: `1`).
@@ -64,46 +50,6 @@ pub struct IntegrationParameters {
}
impl IntegrationParameters {
/// Creates a set of integration parameters with the given values.
#[deprecated = "Use `IntegrationParameters { dt: 60.0, ..Default::default() }` instead"]
pub fn new(
dt: Real,
erp: Real,
joint_erp: Real,
warmstart_coeff: Real,
allowed_linear_error: Real,
allowed_angular_error: Real,
max_linear_correction: Real,
max_angular_correction: Real,
prediction_distance: Real,
max_velocity_iterations: usize,
max_position_iterations: usize,
max_ccd_substeps: usize,
) -> Self {
IntegrationParameters {
dt,
erp,
joint_erp,
warmstart_coeff,
allowed_linear_error,
allowed_angular_error,
max_linear_correction,
max_angular_correction,
prediction_distance,
max_velocity_iterations,
max_position_iterations,
max_ccd_substeps,
..Default::default()
}
}
/// The current time-stepping length.
#[inline(always)]
#[deprecated = "You can just read the `IntegrationParams::dt` value directly"]
pub fn dt(&self) -> Real {
self.dt
}
/// The inverse of the time-stepping length, i.e. the steps per seconds (Hz).
///
/// This is zero if `self.dt` is zero.
@@ -136,10 +82,10 @@ impl IntegrationParameters {
}
}
/// Convenience: `velocity_based_erp / dt`
/// Convenience: `erp / dt`
#[inline]
pub(crate) fn velocity_based_erp_inv_dt(&self) -> Real {
self.velocity_based_erp * self.inv_dt()
pub(crate) fn erp_inv_dt(&self) -> Real {
self.erp * self.inv_dt()
}
}
@@ -148,20 +94,14 @@ impl Default for IntegrationParameters {
Self {
dt: 1.0 / 60.0,
min_ccd_dt: 1.0 / 60.0 / 100.0,
// multithreading_enabled: true,
erp: 0.2,
joint_erp: 0.2,
velocity_solve_fraction: 1.0,
velocity_based_erp: 0.0,
warmstart_coeff: 1.0,
warmstart_correction_slope: 10.0,
allowed_linear_error: 0.005,
erp: 0.8,
allowed_linear_error: 0.001, // 0.005
prediction_distance: 0.002,
allowed_angular_error: 0.001,
max_linear_correction: 0.2,
max_angular_correction: 0.2,
max_velocity_iterations: 4,
max_position_iterations: 1,
max_velocity_friction_iterations: 8,
max_stabilization_iterations: 1,
interleave_restitution_and_friction_resolution: true, // Enabling this makes a big difference for 2D stability.
// FIXME: what is the optimal value for min_island_size?
// It should not be too big so that we don't end up with
// huge islands that don't fit in cache.