850 lines
28 KiB
Rust
850 lines
28 KiB
Rust
use crate::dynamics::solver::ConstraintsCounts;
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use crate::dynamics::solver::MotorParameters;
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use crate::dynamics::solver::joint_constraint::JointSolverBody;
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use crate::dynamics::solver::joint_constraint::joint_velocity_constraint::{
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JointConstraint, WritebackId,
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};
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use crate::dynamics::solver::solver_body::SolverBodies;
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use crate::dynamics::{GenericJoint, ImpulseJoint, IntegrationParameters, JointIndex};
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use crate::math::{ANG_DIM, AngVector, DIM, Isometry, Matrix, Point, Real, Rotation, Vector};
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use crate::prelude::RigidBodySet;
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use crate::utils;
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use crate::utils::{IndexMut2, SimdCrossMatrix, SimdDot, SimdRealCopy};
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#[cfg(feature = "dim3")]
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use crate::utils::{SimdBasis, SimdQuat};
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use na::SMatrix;
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#[cfg(feature = "simd-is-enabled")]
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use {
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crate::dynamics::SpringCoefficients,
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crate::math::{SIMD_WIDTH, SimdReal},
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};
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pub struct JointConstraintBuilder {
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body1: u32,
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body2: u32,
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joint_id: JointIndex,
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joint: GenericJoint,
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constraint_id: usize,
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}
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impl JointConstraintBuilder {
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pub fn generate(
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joint: &ImpulseJoint,
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bodies: &RigidBodySet,
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joint_id: JointIndex,
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out_builder: &mut Self,
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out_constraint_id: &mut usize,
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) {
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let rb1 = &bodies[joint.body1];
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let rb2 = &bodies[joint.body2];
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let solver_body1 = rb1.effective_active_set_offset();
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let solver_body2 = rb2.effective_active_set_offset();
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*out_builder = Self {
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body1: solver_body1,
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body2: solver_body2,
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joint_id,
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joint: joint.data,
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constraint_id: *out_constraint_id,
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};
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// Since solver body poses are given in center-of-mass space,
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// we need to transform the anchors to that space.
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out_builder.joint.transform_to_solver_body_space(rb1, rb2);
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let count = ConstraintsCounts::from_joint(joint);
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*out_constraint_id += count.num_constraints;
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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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bodies: &SolverBodies,
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out: &mut [JointConstraint<Real, 1>],
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) {
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// NOTE: right now, the "update", is basically reconstructing all the
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// constraints. Could we make this more incremental?
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let rb1 = bodies.get_pose(self.body1);
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let rb2 = bodies.get_pose(self.body2);
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let frame1 = rb1.pose * self.joint.local_frame1;
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let frame2 = rb2.pose * self.joint.local_frame2;
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let world_com1 = Point::from(rb1.pose.translation.vector);
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let world_com2 = Point::from(rb2.pose.translation.vector);
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let joint_body1 = JointSolverBody {
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im: rb1.im,
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ii: rb1.ii,
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world_com: world_com1,
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solver_vel: [self.body1],
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};
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let joint_body2 = JointSolverBody {
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im: rb2.im,
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ii: rb2.ii,
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world_com: world_com2,
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solver_vel: [self.body2],
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};
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JointConstraint::<Real, 1>::update(
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params,
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self.joint_id,
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&joint_body1,
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&joint_body2,
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&frame1,
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&frame2,
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&self.joint,
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&mut out[self.constraint_id..],
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);
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}
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}
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#[cfg(feature = "simd-is-enabled")]
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pub struct JointConstraintBuilderSimd {
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body1: [u32; SIMD_WIDTH],
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body2: [u32; SIMD_WIDTH],
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joint_id: [JointIndex; SIMD_WIDTH],
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local_frame1: Isometry<SimdReal>,
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local_frame2: Isometry<SimdReal>,
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locked_axes: u8,
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softness: SpringCoefficients<SimdReal>,
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constraint_id: usize,
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}
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#[cfg(feature = "simd-is-enabled")]
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impl JointConstraintBuilderSimd {
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pub fn generate(
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joint: [&ImpulseJoint; SIMD_WIDTH],
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bodies: &RigidBodySet,
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joint_id: [JointIndex; SIMD_WIDTH],
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out_builder: &mut Self,
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out_constraint_id: &mut usize,
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) {
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let rb1 = array![|ii| &bodies[joint[ii].body1]];
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let rb2 = array![|ii| &bodies[joint[ii].body2]];
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let body1 = array![|ii| if rb1[ii].is_dynamic_or_kinematic() {
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rb1[ii].ids.active_set_offset
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} else {
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u32::MAX
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}];
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let body2 = array![|ii| if rb2[ii].is_dynamic_or_kinematic() {
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rb2[ii].ids.active_set_offset
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} else {
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u32::MAX
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}];
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let local_frame1 = array![|ii| if body1[ii] != u32::MAX {
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joint[ii].data.local_frame1
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} else {
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rb1[ii].pos.position * joint[ii].data.local_frame1
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}]
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.into();
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let local_frame2 = array![|ii| if body2[ii] != u32::MAX {
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joint[ii].data.local_frame2
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} else {
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rb2[ii].pos.position * joint[ii].data.local_frame2
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}]
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.into();
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*out_builder = Self {
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body1,
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body2,
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joint_id,
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local_frame1,
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local_frame2,
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locked_axes: joint[0].data.locked_axes.bits(),
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softness: SpringCoefficients {
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natural_frequency: array![|ii| joint[ii].data.softness.natural_frequency].into(),
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damping_ratio: array![|ii| joint[ii].data.softness.damping_ratio].into(),
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},
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constraint_id: *out_constraint_id,
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};
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let count = ConstraintsCounts::from_joint(joint[0]);
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*out_constraint_id += count.num_constraints;
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}
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pub fn update(
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&mut self,
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params: &IntegrationParameters,
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bodies: &SolverBodies,
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out: &mut [JointConstraint<SimdReal, SIMD_WIDTH>],
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) {
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// NOTE: right now, the "update", is basically reconstructing all the
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// constraints. Could we make this more incremental?
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let rb1 = bodies.gather_poses(self.body1);
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let rb2 = bodies.gather_poses(self.body2);
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let frame1 = rb1.pose * self.local_frame1;
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let frame2 = rb2.pose * self.local_frame2;
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let joint_body1 = JointSolverBody {
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im: rb1.im,
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ii: rb1.ii,
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world_com: rb1.pose.translation.vector.into(),
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solver_vel: self.body1,
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};
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let joint_body2 = JointSolverBody {
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im: rb2.im,
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ii: rb2.ii,
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world_com: rb2.pose.translation.vector.into(),
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solver_vel: self.body2,
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};
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JointConstraint::<SimdReal, SIMD_WIDTH>::update(
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params,
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self.joint_id,
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&joint_body1,
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&joint_body2,
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&frame1,
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&frame2,
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self.locked_axes,
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self.softness,
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&mut out[self.constraint_id..],
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);
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}
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}
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#[derive(Debug, Copy, Clone)]
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pub struct JointConstraintHelper<N: SimdRealCopy> {
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pub basis: Matrix<N>,
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#[cfg(feature = "dim3")]
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pub basis2: Matrix<N>, // TODO: used for angular coupling. Can we avoid storing this?
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pub cmat1_basis: SMatrix<N, ANG_DIM, DIM>,
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pub cmat2_basis: SMatrix<N, ANG_DIM, DIM>,
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#[cfg(feature = "dim3")]
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pub ang_basis: SMatrix<N, ANG_DIM, ANG_DIM>,
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pub lin_err: Vector<N>,
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pub ang_err: Rotation<N>,
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}
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impl<N: SimdRealCopy> JointConstraintHelper<N> {
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pub fn new(
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frame1: &Isometry<N>,
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frame2: &Isometry<N>,
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world_com1: &Point<N>,
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world_com2: &Point<N>,
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locked_lin_axes: u8,
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) -> Self {
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let mut frame1 = *frame1;
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let basis = frame1.rotation.to_rotation_matrix().into_inner();
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let lin_err = frame2.translation.vector - frame1.translation.vector;
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// Adjust the point of application of the force for the first body,
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// by snapping free axes to the second frame’s center (to account for
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// the allowed relative movement).
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{
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let mut new_center1 = frame2.translation.vector; // First, assume all dofs are free.
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// Then snap the locked ones.
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for i in 0..DIM {
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if locked_lin_axes & (1 << i) != 0 {
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let axis = basis.column(i);
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new_center1 -= axis * lin_err.dot(&axis);
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}
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}
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frame1.translation.vector = new_center1;
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}
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let r1 = frame1.translation.vector - world_com1.coords;
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let r2 = frame2.translation.vector - world_com2.coords;
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let cmat1 = r1.gcross_matrix();
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let cmat2 = r2.gcross_matrix();
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#[cfg(feature = "dim3")]
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let mut ang_basis = frame1.rotation.diff_conj1_2(&frame2.rotation).transpose();
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#[allow(unused_mut)] // The mut is needed for 3D
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let mut ang_err = frame1.rotation.inverse() * frame2.rotation;
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#[cfg(feature = "dim3")]
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{
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let sgn = N::one().simd_copysign(frame1.rotation.dot(&frame2.rotation));
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ang_basis *= sgn;
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*ang_err.as_mut_unchecked() *= sgn;
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}
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Self {
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basis,
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#[cfg(feature = "dim3")]
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basis2: frame2.rotation.to_rotation_matrix().into_inner(),
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cmat1_basis: cmat1 * basis,
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cmat2_basis: cmat2 * basis,
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#[cfg(feature = "dim3")]
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ang_basis,
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lin_err,
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ang_err,
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}
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}
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pub fn limit_linear<const LANES: usize>(
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&self,
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params: &IntegrationParameters,
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joint_id: [JointIndex; LANES],
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body1: &JointSolverBody<N, LANES>,
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body2: &JointSolverBody<N, LANES>,
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limited_axis: usize,
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limits: [N; 2],
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writeback_id: WritebackId,
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erp_inv_dt: N,
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cfm_coeff: N,
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) -> JointConstraint<N, LANES> {
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let zero = N::zero();
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let mut constraint = self.lock_linear(
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params,
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joint_id,
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body1,
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body2,
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limited_axis,
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writeback_id,
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erp_inv_dt,
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cfm_coeff,
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);
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let dist = self.lin_err.dot(&constraint.lin_jac);
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let min_enabled = dist.simd_le(limits[0]);
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let max_enabled = limits[1].simd_le(dist);
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let rhs_bias =
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((dist - limits[1]).simd_max(zero) - (limits[0] - dist).simd_max(zero)) * erp_inv_dt;
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constraint.rhs = constraint.rhs_wo_bias + rhs_bias;
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constraint.cfm_coeff = cfm_coeff;
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constraint.impulse_bounds = [
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N::splat(-Real::INFINITY).select(min_enabled, zero),
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N::splat(Real::INFINITY).select(max_enabled, zero),
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];
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constraint
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}
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pub fn limit_linear_coupled<const LANES: usize>(
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&self,
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params: &IntegrationParameters,
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joint_id: [JointIndex; LANES],
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body1: &JointSolverBody<N, LANES>,
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body2: &JointSolverBody<N, LANES>,
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coupled_axes: u8,
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limits: [N; 2],
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writeback_id: WritebackId,
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erp_inv_dt: N,
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cfm_coeff: N,
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) -> JointConstraint<N, LANES> {
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let zero = N::zero();
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let mut lin_jac = Vector::zeros();
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let mut ang_jac1: AngVector<N> = na::zero();
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let mut ang_jac2: AngVector<N> = na::zero();
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for i in 0..DIM {
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if coupled_axes & (1 << i) != 0 {
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let coeff = self.basis.column(i).dot(&self.lin_err);
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lin_jac += self.basis.column(i) * coeff;
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#[cfg(feature = "dim2")]
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{
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ang_jac1 += self.cmat1_basis[i] * coeff;
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ang_jac2 += self.cmat2_basis[i] * coeff;
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}
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#[cfg(feature = "dim3")]
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{
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ang_jac1 += self.cmat1_basis.column(i) * coeff;
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ang_jac2 += self.cmat2_basis.column(i) * coeff;
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}
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}
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}
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// FIXME: handle min limit too.
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let dist = lin_jac.norm();
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let inv_dist = crate::utils::simd_inv(dist);
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lin_jac *= inv_dist;
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ang_jac1 *= inv_dist;
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ang_jac2 *= inv_dist;
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let rhs_wo_bias = (dist - limits[1]).simd_min(zero) * N::splat(params.inv_dt());
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let ii_ang_jac1 = body1.ii * ang_jac1;
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let ii_ang_jac2 = body2.ii * ang_jac2;
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let rhs_bias = (dist - limits[1]).simd_max(zero) * erp_inv_dt;
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let rhs = rhs_wo_bias + rhs_bias;
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let impulse_bounds = [N::zero(), N::splat(Real::INFINITY)];
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JointConstraint {
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joint_id,
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solver_vel1: body1.solver_vel,
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solver_vel2: body2.solver_vel,
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im1: body1.im,
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im2: body2.im,
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impulse: N::zero(),
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impulse_bounds,
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lin_jac,
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ang_jac1,
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ang_jac2,
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ii_ang_jac1,
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ii_ang_jac2,
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inv_lhs: N::zero(), // Will be set during orthogonalization.
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cfm_coeff,
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cfm_gain: N::zero(),
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rhs,
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rhs_wo_bias,
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writeback_id,
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}
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}
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pub fn motor_linear<const LANES: usize>(
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&self,
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params: &IntegrationParameters,
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joint_id: [JointIndex; LANES],
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body1: &JointSolverBody<N, LANES>,
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body2: &JointSolverBody<N, LANES>,
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motor_axis: usize,
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motor_params: &MotorParameters<N>,
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limits: Option<[N; 2]>,
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writeback_id: WritebackId,
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) -> JointConstraint<N, LANES> {
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let inv_dt = N::splat(params.inv_dt());
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let mut constraint = self.lock_linear(
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params,
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joint_id,
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body1,
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body2,
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motor_axis,
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writeback_id,
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// Set regularization factors to zero.
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// The motor impl. will overwrite them after.
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N::zero(),
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N::zero(),
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);
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let mut rhs_wo_bias = N::zero();
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if motor_params.erp_inv_dt != N::zero() {
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let dist = self.lin_err.dot(&constraint.lin_jac);
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rhs_wo_bias += (dist - motor_params.target_pos) * motor_params.erp_inv_dt;
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}
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let mut target_vel = motor_params.target_vel;
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if let Some(limits) = limits {
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let dist = self.lin_err.dot(&constraint.lin_jac);
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target_vel =
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target_vel.simd_clamp((limits[0] - dist) * inv_dt, (limits[1] - dist) * inv_dt);
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};
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rhs_wo_bias += -target_vel;
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constraint.cfm_coeff = motor_params.cfm_coeff;
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constraint.cfm_gain = motor_params.cfm_gain;
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constraint.impulse_bounds = [-motor_params.max_impulse, motor_params.max_impulse];
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constraint.rhs = rhs_wo_bias;
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constraint.rhs_wo_bias = rhs_wo_bias;
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constraint
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}
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pub fn motor_linear_coupled<const LANES: usize>(
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&self,
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params: &IntegrationParameters,
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joint_id: [JointIndex; LANES],
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body1: &JointSolverBody<N, LANES>,
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body2: &JointSolverBody<N, LANES>,
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coupled_axes: u8,
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motor_params: &MotorParameters<N>,
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limits: Option<[N; 2]>,
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writeback_id: WritebackId,
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) -> JointConstraint<N, LANES> {
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let inv_dt = N::splat(params.inv_dt());
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let mut lin_jac = Vector::zeros();
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let mut ang_jac1: AngVector<N> = na::zero();
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let mut ang_jac2: AngVector<N> = na::zero();
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for i in 0..DIM {
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if coupled_axes & (1 << i) != 0 {
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let coeff = self.basis.column(i).dot(&self.lin_err);
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lin_jac += self.basis.column(i) * coeff;
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#[cfg(feature = "dim2")]
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{
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ang_jac1 += self.cmat1_basis[i] * coeff;
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ang_jac2 += self.cmat2_basis[i] * coeff;
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}
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#[cfg(feature = "dim3")]
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{
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ang_jac1 += self.cmat1_basis.column(i) * coeff;
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ang_jac2 += self.cmat2_basis.column(i) * coeff;
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}
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}
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}
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let dist = lin_jac.norm();
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let inv_dist = crate::utils::simd_inv(dist);
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lin_jac *= inv_dist;
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ang_jac1 *= inv_dist;
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ang_jac2 *= inv_dist;
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let mut rhs_wo_bias = N::zero();
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if motor_params.erp_inv_dt != N::zero() {
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rhs_wo_bias += (dist - motor_params.target_pos) * motor_params.erp_inv_dt;
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}
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let mut target_vel = motor_params.target_vel;
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if let Some(limits) = limits {
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target_vel =
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||
target_vel.simd_clamp((limits[0] - dist) * inv_dt, (limits[1] - dist) * inv_dt);
|
||
};
|
||
|
||
rhs_wo_bias += -target_vel;
|
||
|
||
let ii_ang_jac1 = body1.ii * ang_jac1;
|
||
let ii_ang_jac2 = body2.ii * ang_jac2;
|
||
|
||
JointConstraint {
|
||
joint_id,
|
||
solver_vel1: body1.solver_vel,
|
||
solver_vel2: body2.solver_vel,
|
||
im1: body1.im,
|
||
im2: body2.im,
|
||
impulse: N::zero(),
|
||
impulse_bounds: [-motor_params.max_impulse, motor_params.max_impulse],
|
||
lin_jac,
|
||
ang_jac1,
|
||
ang_jac2,
|
||
ii_ang_jac1,
|
||
ii_ang_jac2,
|
||
inv_lhs: N::zero(), // Will be set during orthogonalization.
|
||
cfm_coeff: motor_params.cfm_coeff,
|
||
cfm_gain: motor_params.cfm_gain,
|
||
rhs: rhs_wo_bias,
|
||
rhs_wo_bias,
|
||
writeback_id,
|
||
}
|
||
}
|
||
|
||
pub fn lock_linear<const LANES: usize>(
|
||
&self,
|
||
_params: &IntegrationParameters,
|
||
joint_id: [JointIndex; LANES],
|
||
body1: &JointSolverBody<N, LANES>,
|
||
body2: &JointSolverBody<N, LANES>,
|
||
locked_axis: usize,
|
||
writeback_id: WritebackId,
|
||
erp_inv_dt: N,
|
||
cfm_coeff: N,
|
||
) -> JointConstraint<N, LANES> {
|
||
let lin_jac = self.basis.column(locked_axis).into_owned();
|
||
#[cfg(feature = "dim2")]
|
||
let ang_jac1 = self.cmat1_basis[locked_axis];
|
||
#[cfg(feature = "dim2")]
|
||
let ang_jac2 = self.cmat2_basis[locked_axis];
|
||
#[cfg(feature = "dim3")]
|
||
let ang_jac1 = self.cmat1_basis.column(locked_axis).into_owned();
|
||
#[cfg(feature = "dim3")]
|
||
let ang_jac2 = self.cmat2_basis.column(locked_axis).into_owned();
|
||
|
||
let rhs_wo_bias = N::zero();
|
||
let rhs_bias = lin_jac.dot(&self.lin_err) * erp_inv_dt;
|
||
|
||
let ii_ang_jac1 = body1.ii * ang_jac1;
|
||
let ii_ang_jac2 = body2.ii * ang_jac2;
|
||
|
||
JointConstraint {
|
||
joint_id,
|
||
solver_vel1: body1.solver_vel,
|
||
solver_vel2: body2.solver_vel,
|
||
im1: body1.im,
|
||
im2: body2.im,
|
||
impulse: N::zero(),
|
||
impulse_bounds: [-N::splat(Real::MAX), N::splat(Real::MAX)],
|
||
lin_jac,
|
||
ang_jac1,
|
||
ang_jac2,
|
||
ii_ang_jac1,
|
||
ii_ang_jac2,
|
||
inv_lhs: N::zero(), // Will be set during orthogonalization.
|
||
cfm_coeff,
|
||
cfm_gain: N::zero(),
|
||
rhs: rhs_wo_bias + rhs_bias,
|
||
rhs_wo_bias,
|
||
writeback_id,
|
||
}
|
||
}
|
||
|
||
pub fn limit_angular<const LANES: usize>(
|
||
&self,
|
||
_params: &IntegrationParameters,
|
||
joint_id: [JointIndex; LANES],
|
||
body1: &JointSolverBody<N, LANES>,
|
||
body2: &JointSolverBody<N, LANES>,
|
||
_limited_axis: usize,
|
||
limits: [N; 2],
|
||
writeback_id: WritebackId,
|
||
erp_inv_dt: N,
|
||
cfm_coeff: N,
|
||
) -> JointConstraint<N, LANES> {
|
||
let zero = N::zero();
|
||
let half = N::splat(0.5);
|
||
let s_limits = [(limits[0] * half).simd_sin(), (limits[1] * half).simd_sin()];
|
||
#[cfg(feature = "dim2")]
|
||
let s_ang = (self.ang_err.angle() * half).simd_sin();
|
||
#[cfg(feature = "dim3")]
|
||
let s_ang = self.ang_err.imag()[_limited_axis];
|
||
let min_enabled = s_ang.simd_le(s_limits[0]);
|
||
let max_enabled = s_limits[1].simd_le(s_ang);
|
||
|
||
let impulse_bounds = [
|
||
N::splat(-Real::INFINITY).select(min_enabled, zero),
|
||
N::splat(Real::INFINITY).select(max_enabled, zero),
|
||
];
|
||
|
||
#[cfg(feature = "dim2")]
|
||
let ang_jac = N::one();
|
||
#[cfg(feature = "dim3")]
|
||
let ang_jac = self.ang_basis.column(_limited_axis).into_owned();
|
||
let rhs_wo_bias = N::zero();
|
||
let rhs_bias = ((s_ang - s_limits[1]).simd_max(zero)
|
||
- (s_limits[0] - s_ang).simd_max(zero))
|
||
* erp_inv_dt;
|
||
|
||
let ii_ang_jac1 = body1.ii * ang_jac;
|
||
let ii_ang_jac2 = body2.ii * ang_jac;
|
||
|
||
JointConstraint {
|
||
joint_id,
|
||
solver_vel1: body1.solver_vel,
|
||
solver_vel2: body2.solver_vel,
|
||
im1: body1.im,
|
||
im2: body2.im,
|
||
impulse: N::zero(),
|
||
impulse_bounds,
|
||
lin_jac: na::zero(),
|
||
ang_jac1: ang_jac,
|
||
ang_jac2: ang_jac,
|
||
ii_ang_jac1,
|
||
ii_ang_jac2,
|
||
inv_lhs: N::zero(), // Will be set during orthogonalization.
|
||
cfm_coeff,
|
||
cfm_gain: N::zero(),
|
||
rhs: rhs_wo_bias + rhs_bias,
|
||
rhs_wo_bias,
|
||
writeback_id,
|
||
}
|
||
}
|
||
|
||
pub fn motor_angular<const LANES: usize>(
|
||
&self,
|
||
joint_id: [JointIndex; LANES],
|
||
body1: &JointSolverBody<N, LANES>,
|
||
body2: &JointSolverBody<N, LANES>,
|
||
_motor_axis: usize,
|
||
motor_params: &MotorParameters<N>,
|
||
writeback_id: WritebackId,
|
||
) -> JointConstraint<N, LANES> {
|
||
#[cfg(feature = "dim2")]
|
||
let ang_jac = N::one();
|
||
#[cfg(feature = "dim3")]
|
||
let ang_jac = self.basis.column(_motor_axis).into_owned();
|
||
|
||
let mut rhs_wo_bias = N::zero();
|
||
if motor_params.erp_inv_dt != N::zero() {
|
||
let ang_dist;
|
||
|
||
#[cfg(feature = "dim2")]
|
||
{
|
||
ang_dist = self.ang_err.angle();
|
||
}
|
||
|
||
#[cfg(feature = "dim3")]
|
||
{
|
||
// Clamp the component from -1.0 to 1.0 to account for slight imprecision
|
||
let clamped_err = self.ang_err.imag()[_motor_axis].simd_clamp(-N::one(), N::one());
|
||
ang_dist = clamped_err.simd_asin() * N::splat(2.0);
|
||
}
|
||
|
||
let target_ang = motor_params.target_pos;
|
||
rhs_wo_bias += utils::smallest_abs_diff_between_angles(ang_dist, target_ang)
|
||
* motor_params.erp_inv_dt;
|
||
}
|
||
|
||
rhs_wo_bias += -motor_params.target_vel;
|
||
|
||
let ii_ang_jac1 = body1.ii * ang_jac;
|
||
let ii_ang_jac2 = body2.ii * ang_jac;
|
||
|
||
JointConstraint {
|
||
joint_id,
|
||
solver_vel1: body1.solver_vel,
|
||
solver_vel2: body2.solver_vel,
|
||
im1: body1.im,
|
||
im2: body2.im,
|
||
impulse: N::zero(),
|
||
impulse_bounds: [-motor_params.max_impulse, motor_params.max_impulse],
|
||
lin_jac: na::zero(),
|
||
ang_jac1: ang_jac,
|
||
ang_jac2: ang_jac,
|
||
ii_ang_jac1,
|
||
ii_ang_jac2,
|
||
inv_lhs: N::zero(), // Will be set during orthogonalization.
|
||
cfm_coeff: motor_params.cfm_coeff,
|
||
cfm_gain: motor_params.cfm_gain,
|
||
rhs: rhs_wo_bias,
|
||
rhs_wo_bias,
|
||
writeback_id,
|
||
}
|
||
}
|
||
|
||
pub fn lock_angular<const LANES: usize>(
|
||
&self,
|
||
_params: &IntegrationParameters,
|
||
joint_id: [JointIndex; LANES],
|
||
body1: &JointSolverBody<N, LANES>,
|
||
body2: &JointSolverBody<N, LANES>,
|
||
_locked_axis: usize,
|
||
writeback_id: WritebackId,
|
||
erp_inv_dt: N,
|
||
cfm_coeff: N,
|
||
) -> JointConstraint<N, LANES> {
|
||
#[cfg(feature = "dim2")]
|
||
let ang_jac = N::one();
|
||
#[cfg(feature = "dim3")]
|
||
let ang_jac = self.ang_basis.column(_locked_axis).into_owned();
|
||
|
||
let rhs_wo_bias = N::zero();
|
||
#[cfg(feature = "dim2")]
|
||
let rhs_bias = self.ang_err.im * erp_inv_dt;
|
||
#[cfg(feature = "dim3")]
|
||
let rhs_bias = self.ang_err.imag()[_locked_axis] * erp_inv_dt;
|
||
|
||
let ii_ang_jac1 = body1.ii * ang_jac;
|
||
let ii_ang_jac2 = body2.ii * ang_jac;
|
||
|
||
JointConstraint {
|
||
joint_id,
|
||
solver_vel1: body1.solver_vel,
|
||
solver_vel2: body2.solver_vel,
|
||
im1: body1.im,
|
||
im2: body2.im,
|
||
impulse: N::zero(),
|
||
impulse_bounds: [-N::splat(Real::MAX), N::splat(Real::MAX)],
|
||
lin_jac: na::zero(),
|
||
ang_jac1: ang_jac,
|
||
ang_jac2: ang_jac,
|
||
ii_ang_jac1,
|
||
ii_ang_jac2,
|
||
inv_lhs: N::zero(), // Will be set during orthogonalization.
|
||
cfm_coeff,
|
||
cfm_gain: N::zero(),
|
||
rhs: rhs_wo_bias + rhs_bias,
|
||
rhs_wo_bias,
|
||
writeback_id,
|
||
}
|
||
}
|
||
|
||
/// Orthogonalize the constraints and set their inv_lhs field.
|
||
pub fn finalize_constraints<const LANES: usize>(constraints: &mut [JointConstraint<N, LANES>]) {
|
||
let len = constraints.len();
|
||
|
||
if len == 0 {
|
||
return;
|
||
}
|
||
|
||
let imsum = constraints[0].im1 + constraints[0].im2;
|
||
|
||
// Use the modified Gram-Schmidt orthogonalization.
|
||
for j in 0..len {
|
||
let c_j = &mut constraints[j];
|
||
let dot_jj = c_j.lin_jac.dot(&imsum.component_mul(&c_j.lin_jac))
|
||
+ c_j.ii_ang_jac1.gdot(c_j.ang_jac1)
|
||
+ c_j.ii_ang_jac2.gdot(c_j.ang_jac2);
|
||
let cfm_gain = dot_jj * c_j.cfm_coeff + c_j.cfm_gain;
|
||
let inv_dot_jj = crate::utils::simd_inv(dot_jj);
|
||
c_j.inv_lhs = crate::utils::simd_inv(dot_jj + cfm_gain); // Don’t forget to update the inv_lhs.
|
||
c_j.cfm_gain = cfm_gain;
|
||
|
||
if c_j.impulse_bounds != [-N::splat(Real::MAX), N::splat(Real::MAX)] {
|
||
// Don't remove constraints with limited forces from the others
|
||
// because they may not deliver the necessary forces to fulfill
|
||
// the removed parts of other constraints.
|
||
continue;
|
||
}
|
||
|
||
for i in (j + 1)..len {
|
||
let (c_i, c_j) = constraints.index_mut_const(i, j);
|
||
|
||
let dot_ij = c_i.lin_jac.dot(&imsum.component_mul(&c_j.lin_jac))
|
||
+ c_i.ii_ang_jac1.gdot(c_j.ang_jac1)
|
||
+ c_i.ii_ang_jac2.gdot(c_j.ang_jac2);
|
||
let coeff = dot_ij * inv_dot_jj;
|
||
|
||
c_i.lin_jac -= c_j.lin_jac * coeff;
|
||
c_i.ang_jac1 -= c_j.ang_jac1 * coeff;
|
||
c_i.ang_jac2 -= c_j.ang_jac2 * coeff;
|
||
c_i.ii_ang_jac1 -= c_j.ii_ang_jac1 * coeff;
|
||
c_i.ii_ang_jac2 -= c_j.ii_ang_jac2 * coeff;
|
||
c_i.rhs_wo_bias -= c_j.rhs_wo_bias * coeff;
|
||
c_i.rhs -= c_j.rhs * coeff;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
impl JointConstraintHelper<Real> {
|
||
#[cfg(feature = "dim3")]
|
||
pub fn limit_angular_coupled(
|
||
&self,
|
||
_params: &IntegrationParameters,
|
||
joint_id: [JointIndex; 1],
|
||
body1: &JointSolverBody<Real, 1>,
|
||
body2: &JointSolverBody<Real, 1>,
|
||
coupled_axes: u8,
|
||
limits: [Real; 2],
|
||
writeback_id: WritebackId,
|
||
erp_inv_dt: Real,
|
||
cfm_coeff: Real,
|
||
) -> JointConstraint<Real, 1> {
|
||
// NOTE: right now, this only supports exactly 2 coupled axes.
|
||
let ang_coupled_axes = coupled_axes >> DIM;
|
||
assert_eq!(ang_coupled_axes.count_ones(), 2);
|
||
let not_coupled_index = ang_coupled_axes.trailing_ones() as usize;
|
||
let axis1 = self.basis.column(not_coupled_index).into_owned();
|
||
let axis2 = self.basis2.column(not_coupled_index).into_owned();
|
||
|
||
let rot = Rotation::rotation_between(&axis1, &axis2).unwrap_or_else(Rotation::identity);
|
||
let (ang_jac, angle) = rot
|
||
.axis_angle()
|
||
.map(|(axis, angle)| (axis.into_inner(), angle))
|
||
.unwrap_or_else(|| (axis1.orthonormal_basis()[0], 0.0));
|
||
|
||
let min_enabled = angle <= limits[0];
|
||
let max_enabled = limits[1] <= angle;
|
||
|
||
let impulse_bounds = [
|
||
if min_enabled { -Real::INFINITY } else { 0.0 },
|
||
if max_enabled { Real::INFINITY } else { 0.0 },
|
||
];
|
||
|
||
let rhs_wo_bias = 0.0;
|
||
|
||
let rhs_bias = ((angle - limits[1]).max(0.0) - (limits[0] - angle).max(0.0)) * erp_inv_dt;
|
||
|
||
let ii_ang_jac1 = body1.ii * ang_jac;
|
||
let ii_ang_jac2 = body2.ii * ang_jac;
|
||
|
||
JointConstraint {
|
||
joint_id,
|
||
solver_vel1: body1.solver_vel,
|
||
solver_vel2: body2.solver_vel,
|
||
im1: body1.im,
|
||
im2: body2.im,
|
||
impulse: 0.0,
|
||
impulse_bounds,
|
||
lin_jac: na::zero(),
|
||
ang_jac1: ang_jac,
|
||
ang_jac2: ang_jac,
|
||
ii_ang_jac1,
|
||
ii_ang_jac2,
|
||
inv_lhs: 0.0, // Will be set during orthogonalization.
|
||
cfm_coeff,
|
||
cfm_gain: 0.0,
|
||
rhs: rhs_wo_bias + rhs_bias,
|
||
rhs_wo_bias,
|
||
writeback_id,
|
||
}
|
||
}
|
||
}
|