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Joint API and joint motors improvements

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This commit is contained in:
Sébastien Crozet
2022-02-20 12:55:00 +01:00
committed by Sébastien Crozet
parent e740493b98
commit fb20d72ee2
108 changed files with 2650 additions and 1854 deletions
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29
src/dynamics/integration_parameters.rs
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@@ -18,10 +18,6 @@ pub struct IntegrationParameters {
/// to numerical instabilities.
pub min_ccd_dt: Real,
/// 0-1: how much of the velocity to dampen out in the constraint solver?
/// (default `1.0`).
pub velocity_solve_fraction: Real,
/// 0-1: multiplier for how much of the constraint violation (e.g. contact penetration)
/// will be compensated for during the velocity solve.
/// If zero, you need to enable the positional solver.
@@ -35,6 +31,9 @@ pub struct IntegrationParameters {
/// (default `0.25`).
pub damping_ratio: Real,
pub joint_erp: Real,
pub joint_damping_ratio: Real,
/// 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`).
@@ -89,12 +88,17 @@ impl IntegrationParameters {
/// The ERP coefficient, multiplied by the inverse timestep length.
pub fn erp_inv_dt(&self) -> Real {
0.8 / self.dt
self.erp / self.dt
}
/// The joint ERP coefficient, multiplied by the inverse timestep length.
pub fn joint_erp_inv_dt(&self) -> Real {
self.joint_erp / self.dt
}
/// The CFM factor to be used in the constraints resolution.
pub fn cfm_factor(&self) -> Real {
// Compute CFM assuming a critically damped spring multiplied by the dampingratio.
// Compute CFM assuming a critically damped spring multiplied by the damping ratio.
let inv_erp_minus_one = 1.0 / self.erp - 1.0;
// let stiffness = 4.0 * damping_ratio * damping_ratio * projected_mass
@@ -124,6 +128,16 @@ impl IntegrationParameters {
// in the constraints solver.
1.0 / (1.0 + cfm_coeff)
}
pub fn joint_cfm_coeff(&self) -> Real {
// Compute CFM assuming a critically damped spring multiplied by the damping ratio.
let inv_erp_minus_one = 1.0 / self.joint_erp - 1.0;
inv_erp_minus_one * inv_erp_minus_one
/ ((1.0 + inv_erp_minus_one)
* 4.0
* self.joint_damping_ratio
* self.joint_damping_ratio)
}
}
impl Default for IntegrationParameters {
@@ -131,9 +145,10 @@ impl Default for IntegrationParameters {
Self {
dt: 1.0 / 60.0,
min_ccd_dt: 1.0 / 60.0 / 100.0,
velocity_solve_fraction: 1.0,
erp: 0.8,
damping_ratio: 0.25,
joint_erp: 1.0,
joint_damping_ratio: 1.0,
allowed_linear_error: 0.001, // 0.005
prediction_distance: 0.002,
max_velocity_iterations: 4,