rapier3d/dynamics/solver/contact_constraint/
generic_two_body_constraint.rsuse crate::dynamics::solver::{GenericRhs, TwoBodyConstraint};
use crate::dynamics::{IntegrationParameters, MultibodyJointSet, RigidBodySet};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
use crate::math::{Real, DIM, MAX_MANIFOLD_POINTS};
use crate::utils::{SimdAngularInertia, SimdCross, SimdDot};
use super::{TwoBodyConstraintBuilder, TwoBodyConstraintElement, TwoBodyConstraintNormalPart};
use crate::dynamics::solver::solver_body::SolverBody;
use crate::dynamics::solver::{ContactPointInfos, SolverVel};
use crate::prelude::RigidBodyHandle;
#[cfg(feature = "dim2")]
use crate::utils::SimdBasis;
use na::DVector;
#[derive(Copy, Clone)]
pub(crate) struct GenericTwoBodyConstraintBuilder {
handle1: RigidBodyHandle,
handle2: RigidBodyHandle,
ccd_thickness: Real,
inner: TwoBodyConstraintBuilder,
}
impl GenericTwoBodyConstraintBuilder {
pub fn invalid() -> Self {
Self {
handle1: RigidBodyHandle::invalid(),
handle2: RigidBodyHandle::invalid(),
ccd_thickness: Real::MAX,
inner: TwoBodyConstraintBuilder::invalid(),
}
}
pub fn generate(
manifold_id: ContactManifoldIndex,
manifold: &ContactManifold,
bodies: &RigidBodySet,
multibodies: &MultibodyJointSet,
out_builders: &mut [GenericTwoBodyConstraintBuilder],
out_constraints: &mut [GenericTwoBodyConstraint],
jacobians: &mut DVector<Real>,
jacobian_id: &mut usize,
) {
let handle1 = manifold.data.rigid_body1.unwrap();
let handle2 = manifold.data.rigid_body2.unwrap();
let rb1 = &bodies[handle1];
let rb2 = &bodies[handle2];
let (vels1, mprops1, type1) = (&rb1.vels, &rb1.mprops, &rb1.body_type);
let (vels2, mprops2, type2) = (&rb2.vels, &rb2.mprops, &rb2.body_type);
let multibody1 = multibodies
.rigid_body_link(handle1)
.map(|m| (&multibodies[m.multibody], m.id));
let multibody2 = multibodies
.rigid_body_link(handle2)
.map(|m| (&multibodies[m.multibody], m.id));
let solver_vel1 = multibody1
.map(|mb| mb.0.solver_id)
.unwrap_or(if type1.is_dynamic() {
rb1.ids.active_set_offset
} else {
0
});
let solver_vel2 = multibody2
.map(|mb| mb.0.solver_id)
.unwrap_or(if type2.is_dynamic() {
rb2.ids.active_set_offset
} else {
0
});
let force_dir1 = -manifold.data.normal;
#[cfg(feature = "dim2")]
let tangents1 = force_dir1.orthonormal_basis();
#[cfg(feature = "dim3")]
let tangents1 =
super::compute_tangent_contact_directions(&force_dir1, &vels1.linvel, &vels2.linvel);
let multibodies_ndof = multibody1.map(|m| m.0.ndofs()).unwrap_or(0)
+ multibody2.map(|m| m.0.ndofs()).unwrap_or(0);
let required_jacobian_len =
*jacobian_id + manifold.data.solver_contacts.len() * multibodies_ndof * 2 * DIM;
if jacobians.nrows() < required_jacobian_len && !cfg!(feature = "parallel") {
jacobians.resize_vertically_mut(required_jacobian_len, 0.0);
}
for (l, manifold_points) in manifold
.data
.solver_contacts
.chunks(MAX_MANIFOLD_POINTS)
.enumerate()
{
let chunk_j_id = *jacobian_id;
let builder = &mut out_builders[l];
let constraint = &mut out_constraints[l];
constraint.inner.dir1 = force_dir1;
constraint.inner.im1 = if type1.is_dynamic() {
mprops1.effective_inv_mass
} else {
na::zero()
};
constraint.inner.im2 = if type2.is_dynamic() {
mprops2.effective_inv_mass
} else {
na::zero()
};
constraint.inner.solver_vel1 = solver_vel1;
constraint.inner.solver_vel2 = solver_vel2;
constraint.inner.manifold_id = manifold_id;
constraint.inner.num_contacts = manifold_points.len() as u8;
#[cfg(feature = "dim3")]
{
constraint.inner.tangent1 = tangents1[0];
}
for k in 0..manifold_points.len() {
let manifold_point = &manifold_points[k];
let point = manifold_point.point;
let dp1 = point - mprops1.world_com;
let dp2 = point - mprops2.world_com;
let vel1 = vels1.linvel + vels1.angvel.gcross(dp1);
let vel2 = vels2.linvel + vels2.angvel.gcross(dp2);
constraint.inner.limit = manifold_point.friction;
constraint.inner.manifold_contact_id[k] = manifold_point.contact_id;
let normal_rhs_wo_bias;
{
let torque_dir1 = dp1.gcross(force_dir1);
let torque_dir2 = dp2.gcross(-force_dir1);
let gcross1 = if type1.is_dynamic() {
mprops1
.effective_world_inv_inertia_sqrt
.transform_vector(torque_dir1)
} else {
na::zero()
};
let gcross2 = if type2.is_dynamic() {
mprops2
.effective_world_inv_inertia_sqrt
.transform_vector(torque_dir2)
} else {
na::zero()
};
let inv_r1 = if let Some((mb1, link_id1)) = multibody1.as_ref() {
mb1.fill_jacobians(
*link_id1,
force_dir1,
#[cfg(feature = "dim2")]
na::vector!(torque_dir1),
#[cfg(feature = "dim3")]
torque_dir1,
jacobian_id,
jacobians,
)
.0
} else if type1.is_dynamic() {
force_dir1.dot(&mprops1.effective_inv_mass.component_mul(&force_dir1))
+ gcross1.gdot(gcross1)
} else {
0.0
};
let inv_r2 = if let Some((mb2, link_id2)) = multibody2.as_ref() {
mb2.fill_jacobians(
*link_id2,
-force_dir1,
#[cfg(feature = "dim2")]
na::vector!(torque_dir2),
#[cfg(feature = "dim3")]
torque_dir2,
jacobian_id,
jacobians,
)
.0
} else if type2.is_dynamic() {
force_dir1.dot(&mprops2.effective_inv_mass.component_mul(&force_dir1))
+ gcross2.gdot(gcross2)
} else {
0.0
};
let r = crate::utils::inv(inv_r1 + inv_r2);
let is_bouncy = manifold_point.is_bouncy() as u32 as Real;
normal_rhs_wo_bias =
(is_bouncy * manifold_point.restitution) * (vel1 - vel2).dot(&force_dir1);
constraint.inner.elements[k].normal_part = TwoBodyConstraintNormalPart {
gcross1,
gcross2,
rhs: na::zero(),
rhs_wo_bias: na::zero(),
impulse_accumulator: na::zero(),
impulse: manifold_point.warmstart_impulse,
r,
r_mat_elts: [0.0; 2],
};
}
{
constraint.inner.elements[k].tangent_part.impulse =
manifold_point.warmstart_tangent_impulse;
for j in 0..DIM - 1 {
let torque_dir1 = dp1.gcross(tangents1[j]);
let gcross1 = if type1.is_dynamic() {
mprops1
.effective_world_inv_inertia_sqrt
.transform_vector(torque_dir1)
} else {
na::zero()
};
constraint.inner.elements[k].tangent_part.gcross1[j] = gcross1;
let torque_dir2 = dp2.gcross(-tangents1[j]);
let gcross2 = if type2.is_dynamic() {
mprops2
.effective_world_inv_inertia_sqrt
.transform_vector(torque_dir2)
} else {
na::zero()
};
constraint.inner.elements[k].tangent_part.gcross2[j] = gcross2;
let inv_r1 = if let Some((mb1, link_id1)) = multibody1.as_ref() {
mb1.fill_jacobians(
*link_id1,
tangents1[j],
#[cfg(feature = "dim2")]
na::vector![torque_dir1],
#[cfg(feature = "dim3")]
torque_dir1,
jacobian_id,
jacobians,
)
.0
} else if type1.is_dynamic() {
force_dir1.dot(&mprops1.effective_inv_mass.component_mul(&force_dir1))
+ gcross1.gdot(gcross1)
} else {
0.0
};
let inv_r2 = if let Some((mb2, link_id2)) = multibody2.as_ref() {
mb2.fill_jacobians(
*link_id2,
-tangents1[j],
#[cfg(feature = "dim2")]
na::vector![torque_dir2],
#[cfg(feature = "dim3")]
torque_dir2,
jacobian_id,
jacobians,
)
.0
} else if type2.is_dynamic() {
force_dir1.dot(&mprops2.effective_inv_mass.component_mul(&force_dir1))
+ gcross2.gdot(gcross2)
} else {
0.0
};
let r = crate::utils::inv(inv_r1 + inv_r2);
let rhs_wo_bias = manifold_point.tangent_velocity.dot(&tangents1[j]);
constraint.inner.elements[k].tangent_part.rhs_wo_bias[j] = rhs_wo_bias;
constraint.inner.elements[k].tangent_part.rhs[j] = rhs_wo_bias;
constraint.inner.elements[k].tangent_part.r[j] = r;
}
}
let infos = ContactPointInfos {
local_p1: rb1
.pos
.position
.inverse_transform_point(&manifold_point.point),
local_p2: rb2
.pos
.position
.inverse_transform_point(&manifold_point.point),
tangent_vel: manifold_point.tangent_velocity,
dist: manifold_point.dist,
normal_rhs_wo_bias,
};
builder.handle1 = handle1;
builder.handle2 = handle2;
builder.ccd_thickness = rb1.ccd.ccd_thickness + rb2.ccd.ccd_thickness;
builder.inner.infos[k] = infos;
constraint.inner.manifold_contact_id[k] = manifold_point.contact_id;
}
let ndofs1 = multibody1.map(|mb| mb.0.ndofs()).unwrap_or(0);
let ndofs2 = multibody2.map(|mb| mb.0.ndofs()).unwrap_or(0);
let generic_constraint_mask = (multibody1.is_some() as u8)
| ((multibody2.is_some() as u8) << 1)
| (!type1.is_dynamic() as u8)
| ((!type2.is_dynamic() as u8) << 1);
constraint.j_id = chunk_j_id;
constraint.ndofs1 = ndofs1;
constraint.ndofs2 = ndofs2;
constraint.generic_constraint_mask = generic_constraint_mask;
}
}
pub fn update(
&self,
params: &IntegrationParameters,
solved_dt: Real,
bodies: &[SolverBody],
multibodies: &MultibodyJointSet,
constraint: &mut GenericTwoBodyConstraint,
) {
let pos1 = multibodies
.rigid_body_link(self.handle1)
.map(|m| &multibodies[m.multibody].link(m.id).unwrap().local_to_world)
.unwrap_or_else(|| &bodies[constraint.inner.solver_vel1].position);
let pos2 = multibodies
.rigid_body_link(self.handle2)
.map(|m| &multibodies[m.multibody].link(m.id).unwrap().local_to_world)
.unwrap_or_else(|| &bodies[constraint.inner.solver_vel2].position);
self.inner
.update_with_positions(params, solved_dt, pos1, pos2, &mut constraint.inner);
}
}
#[derive(Copy, Clone, Debug)]
pub(crate) struct GenericTwoBodyConstraint {
pub inner: TwoBodyConstraint,
pub j_id: usize,
pub ndofs1: usize,
pub ndofs2: usize,
pub generic_constraint_mask: u8,
}
impl GenericTwoBodyConstraint {
pub fn invalid() -> Self {
Self {
inner: TwoBodyConstraint::invalid(),
j_id: usize::MAX,
ndofs1: usize::MAX,
ndofs2: usize::MAX,
generic_constraint_mask: u8::MAX,
}
}
pub fn warmstart(
&mut self,
jacobians: &DVector<Real>,
solver_vels: &mut [SolverVel<Real>],
generic_solver_vels: &mut DVector<Real>,
) {
let mut solver_vel1 = if self.generic_constraint_mask & 0b01 == 0 {
GenericRhs::SolverVel(solver_vels[self.inner.solver_vel1])
} else {
GenericRhs::GenericId(self.inner.solver_vel1)
};
let mut solver_vel2 = if self.generic_constraint_mask & 0b10 == 0 {
GenericRhs::SolverVel(solver_vels[self.inner.solver_vel2])
} else {
GenericRhs::GenericId(self.inner.solver_vel2)
};
let elements = &mut self.inner.elements[..self.inner.num_contacts as usize];
TwoBodyConstraintElement::generic_warmstart_group(
elements,
jacobians,
&self.inner.dir1,
#[cfg(feature = "dim3")]
&self.inner.tangent1,
&self.inner.im1,
&self.inner.im2,
self.ndofs1,
self.ndofs2,
self.j_id,
&mut solver_vel1,
&mut solver_vel2,
generic_solver_vels,
);
if let GenericRhs::SolverVel(solver_vel1) = solver_vel1 {
solver_vels[self.inner.solver_vel1] = solver_vel1;
}
if let GenericRhs::SolverVel(solver_vel2) = solver_vel2 {
solver_vels[self.inner.solver_vel2] = solver_vel2;
}
}
pub fn solve(
&mut self,
jacobians: &DVector<Real>,
solver_vels: &mut [SolverVel<Real>],
generic_solver_vels: &mut DVector<Real>,
solve_restitution: bool,
solve_friction: bool,
) {
let mut solver_vel1 = if self.generic_constraint_mask & 0b01 == 0 {
GenericRhs::SolverVel(solver_vels[self.inner.solver_vel1])
} else {
GenericRhs::GenericId(self.inner.solver_vel1)
};
let mut solver_vel2 = if self.generic_constraint_mask & 0b10 == 0 {
GenericRhs::SolverVel(solver_vels[self.inner.solver_vel2])
} else {
GenericRhs::GenericId(self.inner.solver_vel2)
};
let elements = &mut self.inner.elements[..self.inner.num_contacts as usize];
TwoBodyConstraintElement::generic_solve_group(
self.inner.cfm_factor,
elements,
jacobians,
&self.inner.dir1,
#[cfg(feature = "dim3")]
&self.inner.tangent1,
&self.inner.im1,
&self.inner.im2,
self.inner.limit,
self.ndofs1,
self.ndofs2,
self.j_id,
&mut solver_vel1,
&mut solver_vel2,
generic_solver_vels,
solve_restitution,
solve_friction,
);
if let GenericRhs::SolverVel(solver_vel1) = solver_vel1 {
solver_vels[self.inner.solver_vel1] = solver_vel1;
}
if let GenericRhs::SolverVel(solver_vel2) = solver_vel2 {
solver_vels[self.inner.solver_vel2] = solver_vel2;
}
}
pub fn writeback_impulses(&self, manifolds_all: &mut [&mut ContactManifold]) {
self.inner.writeback_impulses(manifolds_all);
}
pub fn remove_cfm_and_bias_from_rhs(&mut self) {
self.inner.remove_cfm_and_bias_from_rhs();
}
}