353 lines
14 KiB
Rust
353 lines
14 KiB
Rust
use super::{AnyVelocityConstraint, DeltaVel};
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use crate::dynamics::{IntegrationParameters, RigidBodySet};
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use crate::geometry::{ContactManifold, ContactManifoldIndex};
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use crate::math::{
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AngVector, AngularInertia, Point, Real, SimdReal, Vector, DIM, MAX_MANIFOLD_POINTS, SIMD_WIDTH,
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};
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use crate::utils::{WAngularInertia, WBasis, WCross, WDot};
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use num::Zero;
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use simba::simd::{SimdPartialOrd, SimdValue};
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#[derive(Copy, Clone, Debug)]
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pub(crate) struct WVelocityConstraintElementPart {
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pub gcross1: AngVector<SimdReal>,
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pub gcross2: AngVector<SimdReal>,
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pub rhs: SimdReal,
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pub impulse: SimdReal,
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pub r: SimdReal,
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}
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impl WVelocityConstraintElementPart {
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pub fn zero() -> Self {
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Self {
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gcross1: AngVector::zero(),
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gcross2: AngVector::zero(),
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rhs: SimdReal::zero(),
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impulse: SimdReal::zero(),
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r: SimdReal::zero(),
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}
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}
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}
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#[derive(Copy, Clone, Debug)]
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pub(crate) struct WVelocityConstraintElement {
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pub normal_part: WVelocityConstraintElementPart,
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pub tangent_parts: [WVelocityConstraintElementPart; DIM - 1],
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}
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impl WVelocityConstraintElement {
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pub fn zero() -> Self {
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Self {
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normal_part: WVelocityConstraintElementPart::zero(),
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tangent_parts: [WVelocityConstraintElementPart::zero(); DIM - 1],
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}
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}
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}
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#[derive(Copy, Clone, Debug)]
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pub(crate) struct WVelocityConstraint {
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pub dir1: Vector<SimdReal>, // Non-penetration force direction for the first body.
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pub elements: [WVelocityConstraintElement; MAX_MANIFOLD_POINTS],
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pub num_contacts: u8,
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pub im1: SimdReal,
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pub im2: SimdReal,
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pub limit: SimdReal,
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pub mj_lambda1: [usize; SIMD_WIDTH],
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pub mj_lambda2: [usize; SIMD_WIDTH],
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pub manifold_id: [ContactManifoldIndex; SIMD_WIDTH],
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pub manifold_contact_id: usize,
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}
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impl WVelocityConstraint {
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pub fn generate(
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params: &IntegrationParameters,
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manifold_id: [ContactManifoldIndex; SIMD_WIDTH],
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manifolds: [&ContactManifold; SIMD_WIDTH],
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bodies: &RigidBodySet,
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out_constraints: &mut Vec<AnyVelocityConstraint>,
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push: bool,
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) {
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let inv_dt = SimdReal::splat(params.inv_dt());
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let rbs1 = array![|ii| &bodies[manifolds[ii].data.body_pair.body1]; SIMD_WIDTH];
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let rbs2 = array![|ii| &bodies[manifolds[ii].data.body_pair.body2]; SIMD_WIDTH];
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let im1 = SimdReal::from(array![|ii| rbs1[ii].effective_inv_mass; SIMD_WIDTH]);
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let ii1: AngularInertia<SimdReal> = AngularInertia::from(
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array![|ii| rbs1[ii].effective_world_inv_inertia_sqrt; SIMD_WIDTH],
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);
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let linvel1 = Vector::from(array![|ii| rbs1[ii].linvel; SIMD_WIDTH]);
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let angvel1 = AngVector::<SimdReal>::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]);
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let world_com1 = Point::from(array![|ii| rbs1[ii].world_com; SIMD_WIDTH]);
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let im2 = SimdReal::from(array![|ii| rbs2[ii].effective_inv_mass; SIMD_WIDTH]);
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let ii2: AngularInertia<SimdReal> = AngularInertia::from(
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array![|ii| rbs2[ii].effective_world_inv_inertia_sqrt; SIMD_WIDTH],
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);
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let linvel2 = Vector::from(array![|ii| rbs2[ii].linvel; SIMD_WIDTH]);
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let angvel2 = AngVector::<SimdReal>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]);
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let world_com2 = Point::from(array![|ii| rbs2[ii].world_com; SIMD_WIDTH]);
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let force_dir1 = -Vector::from(array![|ii| manifolds[ii].data.normal; SIMD_WIDTH]);
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let mj_lambda1 = array![|ii| rbs1[ii].active_set_offset; SIMD_WIDTH];
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let mj_lambda2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
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let restitution_velocity_threshold = SimdReal::splat(params.restitution_velocity_threshold);
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let warmstart_multiplier =
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SimdReal::from(array![|ii| manifolds[ii].data.warmstart_multiplier; SIMD_WIDTH]);
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let warmstart_coeff = warmstart_multiplier * SimdReal::splat(params.warmstart_coeff);
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let num_active_contacts = manifolds[0].data.num_active_contacts();
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for l in (0..num_active_contacts).step_by(MAX_MANIFOLD_POINTS) {
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let manifold_points = array![|ii|
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&manifolds[ii].data.solver_contacts[l..num_active_contacts]; SIMD_WIDTH
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];
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let num_points = manifold_points[0].len().min(MAX_MANIFOLD_POINTS);
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let mut constraint = WVelocityConstraint {
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dir1: force_dir1,
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elements: [WVelocityConstraintElement::zero(); MAX_MANIFOLD_POINTS],
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im1,
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im2,
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limit: SimdReal::splat(0.0),
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mj_lambda1,
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mj_lambda2,
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manifold_id,
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manifold_contact_id: l,
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num_contacts: num_points as u8,
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};
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for k in 0..num_points {
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let friction =
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SimdReal::from(array![|ii| manifold_points[ii][k].friction; SIMD_WIDTH]);
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let restitution =
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SimdReal::from(array![|ii| manifold_points[ii][k].restitution; SIMD_WIDTH]);
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let point = Point::from(array![|ii| manifold_points[ii][k].point; SIMD_WIDTH]);
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let dist = SimdReal::from(array![|ii| manifold_points[ii][k].dist; SIMD_WIDTH]);
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let impulse =
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SimdReal::from(array![|ii| manifold_points[ii][k].data.impulse; SIMD_WIDTH]);
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let dp1 = point - world_com1;
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let dp2 = point - world_com2;
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let vel1 = linvel1 + angvel1.gcross(dp1);
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let vel2 = linvel2 + angvel2.gcross(dp2);
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constraint.limit = friction;
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// Normal part.
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{
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let gcross1 = ii1.transform_vector(dp1.gcross(force_dir1));
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let gcross2 = ii2.transform_vector(dp2.gcross(-force_dir1));
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let r = SimdReal::splat(1.0)
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/ (im1 + im2 + gcross1.gdot(gcross1) + gcross2.gdot(gcross2));
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let mut rhs = (vel1 - vel2).dot(&force_dir1);
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let use_restitution = rhs.simd_le(-restitution_velocity_threshold);
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let rhs_with_restitution = rhs + rhs * restitution;
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rhs = rhs_with_restitution.select(use_restitution, rhs);
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rhs += dist.simd_max(SimdReal::zero()) * inv_dt;
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constraint.elements[k].normal_part = WVelocityConstraintElementPart {
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gcross1,
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gcross2,
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rhs,
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impulse: impulse * warmstart_coeff,
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r,
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};
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}
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// tangent parts.
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let tangents1 = force_dir1.orthonormal_basis();
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for j in 0..DIM - 1 {
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#[cfg(feature = "dim2")]
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let impulse = SimdReal::from(
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array![|ii| manifold_points[ii][k].data.tangent_impulse; SIMD_WIDTH],
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);
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#[cfg(feature = "dim3")]
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let impulse = SimdReal::from(
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array![|ii| manifold_points[ii][k].data.tangent_impulse[j]; SIMD_WIDTH],
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);
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let gcross1 = ii1.transform_vector(dp1.gcross(tangents1[j]));
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let gcross2 = ii2.transform_vector(dp2.gcross(-tangents1[j]));
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let r = SimdReal::splat(1.0)
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/ (im1 + im2 + gcross1.gdot(gcross1) + gcross2.gdot(gcross2));
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let rhs = (vel1 - vel2).dot(&tangents1[j]);
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constraint.elements[k].tangent_parts[j] = WVelocityConstraintElementPart {
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gcross1,
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gcross2,
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rhs,
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impulse: impulse * warmstart_coeff,
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r,
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};
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}
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}
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if push {
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out_constraints.push(AnyVelocityConstraint::Grouped(constraint));
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} else {
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out_constraints[manifolds[0].data.constraint_index + l / MAX_MANIFOLD_POINTS] =
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AnyVelocityConstraint::Grouped(constraint);
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}
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}
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}
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pub fn warmstart(&self, mj_lambdas: &mut [DeltaVel<Real>]) {
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let mut mj_lambda1 = DeltaVel {
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linear: Vector::from(
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array![|ii| mj_lambdas[self.mj_lambda1[ii] as usize].linear; SIMD_WIDTH],
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),
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angular: AngVector::from(
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array![|ii| mj_lambdas[self.mj_lambda1[ii] as usize].angular; SIMD_WIDTH],
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),
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};
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let mut mj_lambda2 = DeltaVel {
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linear: Vector::from(
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array![|ii| mj_lambdas[self.mj_lambda2[ii] as usize].linear; SIMD_WIDTH],
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),
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angular: AngVector::from(
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array![|ii| mj_lambdas[self.mj_lambda2[ii] as usize].angular; SIMD_WIDTH],
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),
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};
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for i in 0..self.num_contacts as usize {
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let elt = &self.elements[i].normal_part;
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mj_lambda1.linear += self.dir1 * (self.im1 * elt.impulse);
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mj_lambda1.angular += elt.gcross1 * elt.impulse;
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mj_lambda2.linear += self.dir1 * (-self.im2 * elt.impulse);
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mj_lambda2.angular += elt.gcross2 * elt.impulse;
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// FIXME: move this out of the for loop?
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let tangents1 = self.dir1.orthonormal_basis();
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for j in 0..DIM - 1 {
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let elt = &self.elements[i].tangent_parts[j];
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mj_lambda1.linear += tangents1[j] * (self.im1 * elt.impulse);
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mj_lambda1.angular += elt.gcross1 * elt.impulse;
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mj_lambda2.linear += tangents1[j] * (-self.im2 * elt.impulse);
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mj_lambda2.angular += elt.gcross2 * elt.impulse;
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}
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}
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for ii in 0..SIMD_WIDTH {
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mj_lambdas[self.mj_lambda1[ii] as usize].linear = mj_lambda1.linear.extract(ii);
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mj_lambdas[self.mj_lambda1[ii] as usize].angular = mj_lambda1.angular.extract(ii);
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}
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for ii in 0..SIMD_WIDTH {
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mj_lambdas[self.mj_lambda2[ii] as usize].linear = mj_lambda2.linear.extract(ii);
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mj_lambdas[self.mj_lambda2[ii] as usize].angular = mj_lambda2.angular.extract(ii);
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}
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}
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pub fn solve(&mut self, mj_lambdas: &mut [DeltaVel<Real>]) {
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let mut mj_lambda1 = DeltaVel {
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linear: Vector::from(
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array![|ii| mj_lambdas[self.mj_lambda1[ii] as usize].linear; SIMD_WIDTH],
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),
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angular: AngVector::from(
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array![|ii| mj_lambdas[self.mj_lambda1[ii] as usize].angular; SIMD_WIDTH],
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),
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};
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let mut mj_lambda2 = DeltaVel {
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linear: Vector::from(
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array![ |ii| mj_lambdas[ self.mj_lambda2[ii] as usize].linear; SIMD_WIDTH],
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),
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angular: AngVector::from(
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array![ |ii| mj_lambdas[ self.mj_lambda2[ii] as usize].angular; SIMD_WIDTH],
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),
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};
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// Solve friction first.
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for i in 0..self.num_contacts as usize {
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// FIXME: move this out of the for loop?
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let tangents1 = self.dir1.orthonormal_basis();
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let normal_elt = &self.elements[i].normal_part;
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for j in 0..DIM - 1 {
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let elt = &mut self.elements[i].tangent_parts[j];
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let dimpulse = tangents1[j].dot(&mj_lambda1.linear)
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+ elt.gcross1.gdot(mj_lambda1.angular)
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- tangents1[j].dot(&mj_lambda2.linear)
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+ elt.gcross2.gdot(mj_lambda2.angular)
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+ elt.rhs;
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let limit = self.limit * normal_elt.impulse;
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let new_impulse = (elt.impulse - elt.r * dimpulse).simd_clamp(-limit, limit);
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let dlambda = new_impulse - elt.impulse;
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elt.impulse = new_impulse;
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mj_lambda1.linear += tangents1[j] * (self.im1 * dlambda);
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mj_lambda1.angular += elt.gcross1 * dlambda;
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mj_lambda2.linear += tangents1[j] * (-self.im2 * dlambda);
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mj_lambda2.angular += elt.gcross2 * dlambda;
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}
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}
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// Solve non-penetration after friction.
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for i in 0..self.num_contacts as usize {
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let elt = &mut self.elements[i].normal_part;
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let dimpulse = self.dir1.dot(&mj_lambda1.linear) + elt.gcross1.gdot(mj_lambda1.angular)
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- self.dir1.dot(&mj_lambda2.linear)
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+ elt.gcross2.gdot(mj_lambda2.angular)
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+ elt.rhs;
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let new_impulse = (elt.impulse - elt.r * dimpulse).simd_max(SimdReal::zero());
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let dlambda = new_impulse - elt.impulse;
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elt.impulse = new_impulse;
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mj_lambda1.linear += self.dir1 * (self.im1 * dlambda);
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mj_lambda1.angular += elt.gcross1 * dlambda;
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mj_lambda2.linear += self.dir1 * (-self.im2 * dlambda);
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mj_lambda2.angular += elt.gcross2 * dlambda;
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}
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for ii in 0..SIMD_WIDTH {
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mj_lambdas[self.mj_lambda1[ii] as usize].linear = mj_lambda1.linear.extract(ii);
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mj_lambdas[self.mj_lambda1[ii] as usize].angular = mj_lambda1.angular.extract(ii);
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}
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for ii in 0..SIMD_WIDTH {
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mj_lambdas[self.mj_lambda2[ii] as usize].linear = mj_lambda2.linear.extract(ii);
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mj_lambdas[self.mj_lambda2[ii] as usize].angular = mj_lambda2.angular.extract(ii);
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}
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}
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pub fn writeback_impulses(&self, manifolds_all: &mut [&mut ContactManifold]) {
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for k in 0..self.num_contacts as usize {
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let impulses: [_; SIMD_WIDTH] = self.elements[k].normal_part.impulse.into();
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let tangent_impulses: [_; SIMD_WIDTH] =
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self.elements[k].tangent_parts[0].impulse.into();
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#[cfg(feature = "dim3")]
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let bitangent_impulses: [_; SIMD_WIDTH] =
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self.elements[k].tangent_parts[1].impulse.into();
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for ii in 0..SIMD_WIDTH {
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let manifold = &mut manifolds_all[self.manifold_id[ii]];
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let k_base = self.manifold_contact_id;
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let active_contacts = &mut manifold.points[..manifold.data.num_active_contacts()];
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active_contacts[k_base + k].data.impulse = impulses[ii];
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#[cfg(feature = "dim2")]
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{
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active_contacts[k_base + k].data.tangent_impulse = tangent_impulses[ii];
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}
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#[cfg(feature = "dim3")]
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{
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active_contacts[k_base + k].data.tangent_impulse =
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[tangent_impulses[ii], bitangent_impulses[ii]];
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}
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}
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}
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}
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}
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