434 lines
17 KiB
Rust
434 lines
17 KiB
Rust
use crate::dynamics::solver::{GenericRhs, TwoBodyConstraint};
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use crate::dynamics::{IntegrationParameters, MultibodyJointSet, RigidBodySet};
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use crate::geometry::{ContactManifold, ContactManifoldIndex};
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use crate::math::{Real, DIM, MAX_MANIFOLD_POINTS};
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use crate::utils::{SimdAngularInertia, SimdCross, SimdDot};
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use super::{TwoBodyConstraintBuilder, TwoBodyConstraintElement, TwoBodyConstraintNormalPart};
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use crate::dynamics::solver::solver_body::SolverBody;
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use crate::dynamics::solver::{ContactPointInfos, SolverVel};
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use crate::prelude::RigidBodyHandle;
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#[cfg(feature = "dim2")]
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use crate::utils::SimdBasis;
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use na::DVector;
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#[derive(Copy, Clone)]
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pub(crate) struct GenericTwoBodyConstraintBuilder {
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handle1: RigidBodyHandle,
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handle2: RigidBodyHandle,
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ccd_thickness: Real,
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inner: TwoBodyConstraintBuilder,
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}
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impl GenericTwoBodyConstraintBuilder {
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pub fn invalid() -> Self {
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Self {
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handle1: RigidBodyHandle::invalid(),
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handle2: RigidBodyHandle::invalid(),
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ccd_thickness: Real::MAX,
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inner: TwoBodyConstraintBuilder::invalid(),
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}
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}
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pub fn generate(
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manifold_id: ContactManifoldIndex,
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manifold: &ContactManifold,
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bodies: &RigidBodySet,
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multibodies: &MultibodyJointSet,
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out_builders: &mut [GenericTwoBodyConstraintBuilder],
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out_constraints: &mut [GenericTwoBodyConstraint],
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jacobians: &mut DVector<Real>,
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jacobian_id: &mut usize,
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) {
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let handle1 = manifold.data.rigid_body1.unwrap();
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let handle2 = manifold.data.rigid_body2.unwrap();
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let rb1 = &bodies[handle1];
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let rb2 = &bodies[handle2];
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let (vels1, mprops1, type1) = (&rb1.vels, &rb1.mprops, &rb1.body_type);
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let (vels2, mprops2, type2) = (&rb2.vels, &rb2.mprops, &rb2.body_type);
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let multibody1 = multibodies
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.rigid_body_link(handle1)
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.map(|m| (&multibodies[m.multibody], m.id));
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let multibody2 = multibodies
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.rigid_body_link(handle2)
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.map(|m| (&multibodies[m.multibody], m.id));
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let solver_vel1 = multibody1
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.map(|mb| mb.0.solver_id)
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.unwrap_or(if type1.is_dynamic() {
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rb1.ids.active_set_offset
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} else {
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0
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});
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let solver_vel2 = multibody2
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.map(|mb| mb.0.solver_id)
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.unwrap_or(if type2.is_dynamic() {
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rb2.ids.active_set_offset
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} else {
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0
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});
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let force_dir1 = -manifold.data.normal;
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#[cfg(feature = "dim2")]
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let tangents1 = force_dir1.orthonormal_basis();
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#[cfg(feature = "dim3")]
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let tangents1 =
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super::compute_tangent_contact_directions(&force_dir1, &vels1.linvel, &vels2.linvel);
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let multibodies_ndof = multibody1.map(|m| m.0.ndofs()).unwrap_or(0)
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+ multibody2.map(|m| m.0.ndofs()).unwrap_or(0);
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// For each solver contact we generate DIM constraints, and each constraints appends
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// the multibodies jacobian and weighted jacobians
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let required_jacobian_len =
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*jacobian_id + manifold.data.solver_contacts.len() * multibodies_ndof * 2 * DIM;
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if jacobians.nrows() < required_jacobian_len && !cfg!(feature = "parallel") {
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jacobians.resize_vertically_mut(required_jacobian_len, 0.0);
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}
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for (l, manifold_points) in manifold
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.data
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.solver_contacts
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.chunks(MAX_MANIFOLD_POINTS)
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.enumerate()
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{
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let chunk_j_id = *jacobian_id;
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let builder = &mut out_builders[l];
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let constraint = &mut out_constraints[l];
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constraint.inner.dir1 = force_dir1;
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constraint.inner.im1 = if type1.is_dynamic() {
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mprops1.effective_inv_mass
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} else {
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na::zero()
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};
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constraint.inner.im2 = if type2.is_dynamic() {
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mprops2.effective_inv_mass
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} else {
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na::zero()
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};
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constraint.inner.solver_vel1 = solver_vel1;
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constraint.inner.solver_vel2 = solver_vel2;
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constraint.inner.manifold_id = manifold_id;
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constraint.inner.num_contacts = manifold_points.len() as u8;
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#[cfg(feature = "dim3")]
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{
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constraint.inner.tangent1 = tangents1[0];
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}
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for k in 0..manifold_points.len() {
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let manifold_point = &manifold_points[k];
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let point = manifold_point.point;
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let dp1 = point - mprops1.world_com;
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let dp2 = point - mprops2.world_com;
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let vel1 = vels1.linvel + vels1.angvel.gcross(dp1);
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let vel2 = vels2.linvel + vels2.angvel.gcross(dp2);
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constraint.inner.limit = manifold_point.friction;
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constraint.inner.manifold_contact_id[k] = manifold_point.contact_id;
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// Normal part.
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let normal_rhs_wo_bias;
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{
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let torque_dir1 = dp1.gcross(force_dir1);
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let torque_dir2 = dp2.gcross(-force_dir1);
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let gcross1 = if type1.is_dynamic() {
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mprops1
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.effective_world_inv_inertia_sqrt
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.transform_vector(torque_dir1)
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} else {
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na::zero()
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};
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let gcross2 = if type2.is_dynamic() {
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mprops2
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.effective_world_inv_inertia_sqrt
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.transform_vector(torque_dir2)
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} else {
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na::zero()
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};
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let inv_r1 = if let Some((mb1, link_id1)) = multibody1.as_ref() {
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mb1.fill_jacobians(
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*link_id1,
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force_dir1,
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#[cfg(feature = "dim2")]
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na::vector!(torque_dir1),
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#[cfg(feature = "dim3")]
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torque_dir1,
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jacobian_id,
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jacobians,
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)
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.0
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} else if type1.is_dynamic() {
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force_dir1.dot(&mprops1.effective_inv_mass.component_mul(&force_dir1))
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+ gcross1.gdot(gcross1)
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} else {
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0.0
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};
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let inv_r2 = if let Some((mb2, link_id2)) = multibody2.as_ref() {
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mb2.fill_jacobians(
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*link_id2,
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-force_dir1,
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#[cfg(feature = "dim2")]
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na::vector!(torque_dir2),
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#[cfg(feature = "dim3")]
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torque_dir2,
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jacobian_id,
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jacobians,
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)
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.0
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} else if type2.is_dynamic() {
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force_dir1.dot(&mprops2.effective_inv_mass.component_mul(&force_dir1))
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+ gcross2.gdot(gcross2)
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} else {
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0.0
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};
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let r = crate::utils::inv(inv_r1 + inv_r2);
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let is_bouncy = manifold_point.is_bouncy() as u32 as Real;
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normal_rhs_wo_bias =
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(is_bouncy * manifold_point.restitution) * (vel1 - vel2).dot(&force_dir1);
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constraint.inner.elements[k].normal_part = TwoBodyConstraintNormalPart {
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gcross1,
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gcross2,
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rhs: na::zero(),
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rhs_wo_bias: na::zero(),
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total_impulse: na::zero(),
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impulse: na::zero(),
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r,
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};
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}
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// Tangent parts.
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{
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constraint.inner.elements[k].tangent_part.impulse = na::zero();
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for j in 0..DIM - 1 {
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let torque_dir1 = dp1.gcross(tangents1[j]);
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let gcross1 = if type1.is_dynamic() {
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mprops1
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.effective_world_inv_inertia_sqrt
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.transform_vector(torque_dir1)
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} else {
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na::zero()
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};
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constraint.inner.elements[k].tangent_part.gcross1[j] = gcross1;
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let torque_dir2 = dp2.gcross(-tangents1[j]);
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let gcross2 = if type2.is_dynamic() {
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mprops2
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.effective_world_inv_inertia_sqrt
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.transform_vector(torque_dir2)
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} else {
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na::zero()
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};
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constraint.inner.elements[k].tangent_part.gcross2[j] = gcross2;
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let inv_r1 = if let Some((mb1, link_id1)) = multibody1.as_ref() {
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mb1.fill_jacobians(
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*link_id1,
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tangents1[j],
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#[cfg(feature = "dim2")]
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na::vector![torque_dir1],
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#[cfg(feature = "dim3")]
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torque_dir1,
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jacobian_id,
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jacobians,
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)
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.0
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} else if type1.is_dynamic() {
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force_dir1.dot(&mprops1.effective_inv_mass.component_mul(&force_dir1))
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+ gcross1.gdot(gcross1)
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} else {
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0.0
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};
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let inv_r2 = if let Some((mb2, link_id2)) = multibody2.as_ref() {
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mb2.fill_jacobians(
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*link_id2,
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-tangents1[j],
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#[cfg(feature = "dim2")]
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na::vector![torque_dir2],
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#[cfg(feature = "dim3")]
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torque_dir2,
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jacobian_id,
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jacobians,
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)
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.0
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} else if type2.is_dynamic() {
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force_dir1.dot(&mprops2.effective_inv_mass.component_mul(&force_dir1))
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+ gcross2.gdot(gcross2)
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} else {
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0.0
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};
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let r = crate::utils::inv(inv_r1 + inv_r2);
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let rhs_wo_bias = manifold_point.tangent_velocity.dot(&tangents1[j]);
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constraint.inner.elements[k].tangent_part.rhs_wo_bias[j] = rhs_wo_bias;
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constraint.inner.elements[k].tangent_part.rhs[j] = rhs_wo_bias;
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// TODO: in 3D, we should take into account gcross[0].dot(gcross[1])
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// in lhs. See the corresponding code on the `velocity_constraint.rs`
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// file.
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constraint.inner.elements[k].tangent_part.r[j] = r;
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}
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}
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// Builder.
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let infos = ContactPointInfos {
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local_p1: rb1
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.pos
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.position
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.inverse_transform_point(&manifold_point.point),
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local_p2: rb2
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.pos
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.position
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.inverse_transform_point(&manifold_point.point),
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tangent_vel: manifold_point.tangent_velocity,
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dist: manifold_point.dist,
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normal_rhs_wo_bias,
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};
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builder.handle1 = handle1;
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builder.handle2 = handle2;
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builder.ccd_thickness = rb1.ccd.ccd_thickness + rb2.ccd.ccd_thickness;
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builder.inner.infos[k] = infos;
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constraint.inner.manifold_contact_id[k] = manifold_point.contact_id;
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}
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let ndofs1 = multibody1.map(|mb| mb.0.ndofs()).unwrap_or(0);
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let ndofs2 = multibody2.map(|mb| mb.0.ndofs()).unwrap_or(0);
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// NOTE: we use the generic constraint for non-dynamic bodies because this will
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// reduce all ops to nothing because its ndofs will be zero.
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let generic_constraint_mask = (multibody1.is_some() as u8)
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| ((multibody2.is_some() as u8) << 1)
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| (!type1.is_dynamic() as u8)
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| ((!type2.is_dynamic() as u8) << 1);
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constraint.j_id = chunk_j_id;
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constraint.ndofs1 = ndofs1;
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constraint.ndofs2 = ndofs2;
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constraint.generic_constraint_mask = generic_constraint_mask;
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}
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}
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pub fn update(
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&self,
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params: &IntegrationParameters,
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solved_dt: Real,
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bodies: &[SolverBody],
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multibodies: &MultibodyJointSet,
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constraint: &mut GenericTwoBodyConstraint,
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) {
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// We don’t update jacobians so the update is mostly identical to the non-generic velocity constraint.
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let pos1 = multibodies
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.rigid_body_link(self.handle1)
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.map(|m| &multibodies[m.multibody].link(m.id).unwrap().local_to_world)
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.unwrap_or_else(|| &bodies[constraint.inner.solver_vel1].position);
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let pos2 = multibodies
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.rigid_body_link(self.handle2)
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.map(|m| &multibodies[m.multibody].link(m.id).unwrap().local_to_world)
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.unwrap_or_else(|| &bodies[constraint.inner.solver_vel2].position);
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self.inner.update_with_positions(
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params,
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solved_dt,
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pos1,
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pos2,
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self.ccd_thickness,
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&mut constraint.inner,
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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 GenericTwoBodyConstraint {
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// We just build the generic constraint on top of the velocity constraint,
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// adding some information we can use in the generic case.
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pub inner: TwoBodyConstraint,
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pub j_id: usize,
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pub ndofs1: usize,
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pub ndofs2: usize,
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pub generic_constraint_mask: u8,
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}
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impl GenericTwoBodyConstraint {
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pub fn invalid() -> Self {
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Self {
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inner: TwoBodyConstraint::invalid(),
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j_id: usize::MAX,
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ndofs1: usize::MAX,
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ndofs2: usize::MAX,
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generic_constraint_mask: u8::MAX,
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}
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}
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pub fn solve(
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&mut self,
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jacobians: &DVector<Real>,
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solver_vels: &mut [SolverVel<Real>],
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generic_solver_vels: &mut DVector<Real>,
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solve_restitution: bool,
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solve_friction: bool,
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) {
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let mut solver_vel1 = if self.generic_constraint_mask & 0b01 == 0 {
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GenericRhs::SolverVel(solver_vels[self.inner.solver_vel1])
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} else {
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GenericRhs::GenericId(self.inner.solver_vel1)
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};
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let mut solver_vel2 = if self.generic_constraint_mask & 0b10 == 0 {
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GenericRhs::SolverVel(solver_vels[self.inner.solver_vel2])
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} else {
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GenericRhs::GenericId(self.inner.solver_vel2)
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};
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let elements = &mut self.inner.elements[..self.inner.num_contacts as usize];
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TwoBodyConstraintElement::generic_solve_group(
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self.inner.cfm_factor,
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elements,
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jacobians,
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&self.inner.dir1,
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#[cfg(feature = "dim3")]
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&self.inner.tangent1,
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&self.inner.im1,
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&self.inner.im2,
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self.inner.limit,
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self.ndofs1,
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self.ndofs2,
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self.j_id,
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&mut solver_vel1,
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&mut solver_vel2,
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generic_solver_vels,
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solve_restitution,
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solve_friction,
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);
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if let GenericRhs::SolverVel(solver_vel1) = solver_vel1 {
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solver_vels[self.inner.solver_vel1] = solver_vel1;
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}
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if let GenericRhs::SolverVel(solver_vel2) = solver_vel2 {
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solver_vels[self.inner.solver_vel2] = solver_vel2;
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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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self.inner.writeback_impulses(manifolds_all);
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}
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pub fn remove_cfm_and_bias_from_rhs(&mut self) {
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self.inner.remove_cfm_and_bias_from_rhs();
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}
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}
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