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use na::RealField; /// Logical information of the geometry of a constraint. #[derive(Copy, Clone, Debug, Default)] pub struct ConstraintGeometry<N: RealField> { /// Index of the first entry of the jacobian of the constraint affecting the first body. pub j_id1: usize, /// Index of the first entry of the jacobian of the constraint affecting the second body. pub j_id2: usize, /// Index of the first entry of the constraint jacobian multiplied by the inverse mass of the first body. pub wj_id1: usize, /// Index of the first entry of the constraint jacobian multiplied by the inverse mass of the second body. pub wj_id2: usize, /// Number of degree of freedom of the first body. pub ndofs1: usize, /// Number of degree of freedom of the second body. pub ndofs2: usize, /// Scaling parameter of the SOR-prox method. pub r: N, } impl<N: RealField> ConstraintGeometry<N> { /// Create a costraint geometry initialized to zero. #[inline] pub fn new() -> Self { ConstraintGeometry { j_id1: 0, j_id2: 0, wj_id1: 0, wj_id2: 0, ndofs1: 0, ndofs2: 0, r: N::zero(), } } /// Return `true` if this constraint involve a body with zero degrees of freedom. #[inline] pub fn is_ground_constraint(&self) -> bool { self.ndofs1 == 0 || self.ndofs2 == 0 } } /// A unilateral (inequality) consraint. pub struct UnilateralConstraint<N: RealField, Id> { /// The impulse applied by this constraint. pub impulse: N, /// The scaling parameter of the SOR-prox method. pub r: N, /// The target velocity change this constraint must apply. pub rhs: N, /// The index of the impulse used for its storage in an impuse cache. pub impulse_id: Id, /// The assembly index of the first body. pub assembly_id1: usize, /// The assembly index of the second body. pub assembly_id2: usize, /// Index of the first entry of the jacobian of the constraint affecting the first body. pub j_id1: usize, /// Index of the first entry of the constraint jacobian multiplied by the inverse mass of the second body. pub j_id2: usize, /// Index of the first entry of the constraint jacobian multiplied by the inverse mass of the first body. pub wj_id1: usize, /// Index of the first entry of the constraint jacobian multiplied by the inverse mass of the second body. pub wj_id2: usize, /// Number of degree of freedom of the first body. pub ndofs1: usize, /// Number of degree of freedom of the second body. pub ndofs2: usize, } impl<N: RealField, Id> UnilateralConstraint<N, Id> { /// Create a new unilateral constraint. #[inline] pub fn new( geom: ConstraintGeometry<N>, assembly_id1: usize, assembly_id2: usize, rhs: N, impulse: N, impulse_id: Id, ) -> Self { assert!(geom.ndofs1 != 0 && geom.ndofs2 != 0); UnilateralConstraint { impulse, r: geom.r, rhs, impulse_id, assembly_id1, assembly_id2, j_id1: geom.j_id1, j_id2: geom.j_id2, wj_id1: geom.wj_id1, wj_id2: geom.wj_id2, ndofs1: geom.ndofs1, ndofs2: geom.ndofs2, } } } /// A unilateral (inequality) constraint between a dynamic body and one without any degrees of freedom. pub struct UnilateralGroundConstraint<N: RealField, Id> { /// The impulse applied by the constraint. pub impulse: N, /// The scaling parameter used by the SOR-prox method. pub r: N, /// The target velocity change this constraint must apply. pub rhs: N, /// The index of the impulse used for its storage in an impuse cache. pub impulse_id: Id, /// The assembly index of the dynamic body. pub assembly_id: usize, /// Index of the first entry of the jacobian of the constraint affecting the dynamic body. pub j_id: usize, /// Index of the first entry of the constraint jacobian multiplied by the inverse mass of the dynamic body. pub wj_id: usize, /// Number of degree of freedom of the dynamic body. pub ndofs: usize, } impl<N: RealField, Id> UnilateralGroundConstraint<N, Id> { /// Create a new unilateral ground constraint. #[inline] pub fn new( geom: ConstraintGeometry<N>, assembly_id1: usize, assembly_id2: usize, rhs: N, impulse: N, impulse_id: Id, ) -> Self { if geom.ndofs1 == 0 { UnilateralGroundConstraint { impulse, r: geom.r, rhs, impulse_id, assembly_id: assembly_id2, j_id: geom.j_id2, wj_id: geom.wj_id2, ndofs: geom.ndofs2, } } else { UnilateralGroundConstraint { impulse, r: geom.r, rhs, impulse_id, assembly_id: assembly_id1, j_id: geom.j_id1, wj_id: geom.wj_id1, ndofs: geom.ndofs1, } } } } /// Limits of impulse applicable by a bilateral constraint. #[derive(Copy, Clone, Debug)] pub enum ImpulseLimits<N: RealField> { /// Limits that are absolute threshold. Independent { /// The lower bound of the impulse. min: N, /// The upper bound of the impulse. max: N, }, /// Limit proportional to the impulse of another unilateral constraint. Dependent { /// Index of the unilateral constraint which this limit depends on. dependency: usize, /// The coefficient by which the dependent impulse is multiplied to obtain the impulse limit. coeff: N, }, } /// A bilateral (equality) constraint between two bodies. pub struct BilateralConstraint<N: RealField, Id> { /// The impulse applied by this constraint. pub impulse: N, /// The scaling parameter of the SOR-prox method. pub r: N, /// The target velocity change this constraint must apply. pub rhs: N, /// Limits of impulse applicable by this constraint. pub limits: ImpulseLimits<N>, /// The index of the impulse used for its storage in an impuse cache. pub impulse_id: Id, /// The assembly index of the first body. pub assembly_id1: usize, /// The assembly index of the second body. pub assembly_id2: usize, /// Index of the first entry of the jacobian of the constraint affecting the first body. pub j_id1: usize, /// Index of the first entry of the constraint jacobian multiplied by the inverse mass of the second body. pub j_id2: usize, /// Index of the first entry of the constraint jacobian multiplied by the inverse mass of the first body. pub wj_id1: usize, /// Index of the first entry of the constraint jacobian multiplied by the inverse mass of the second body. pub wj_id2: usize, /// Number of degree of freedom of the first body. pub ndofs1: usize, /// Number of degree of freedom of the second body. pub ndofs2: usize, } impl<N: RealField, Id> BilateralConstraint<N, Id> { /// Create a new bilateral constraint. #[inline] pub fn new( geom: ConstraintGeometry<N>, assembly_id1: usize, assembly_id2: usize, limits: ImpulseLimits<N>, rhs: N, impulse: N, impulse_id: Id, ) -> Self { assert!(geom.ndofs1 != 0 && geom.ndofs2 != 0); BilateralConstraint { impulse, r: geom.r, rhs, limits, impulse_id, assembly_id1, assembly_id2, j_id1: geom.j_id1, j_id2: geom.j_id2, wj_id1: geom.wj_id1, wj_id2: geom.wj_id2, ndofs1: geom.ndofs1, ndofs2: geom.ndofs2, } } } /// A bilateral (equality) constraint between a dynamic body and one without any degrees of freedom. pub struct BilateralGroundConstraint<N: RealField, Id> { /// The impulse applied by the constraint. pub impulse: N, /// The scaling parameter used by the SOR-prox method. pub r: N, /// The target velocity change this constraint must apply. pub rhs: N, /// Limits of impulse applicable by this constraint. pub limits: ImpulseLimits<N>, /// The index of the impulse used for its storage in an impuse cache. pub impulse_id: Id, /// The assembly index of the dynamic body. pub assembly_id: usize, /// Index of the first entry of the jacobian of the constraint affecting the dynamic body. pub j_id: usize, /// Index of the first entry of the constraint jacobian multiplied by the inverse mass of the dynamic body. pub wj_id: usize, /// Number of degree of freedom of the dynamic body. pub ndofs: usize, } impl<N: RealField, Id> BilateralGroundConstraint<N, Id> { /// Create a new unilateral ground constraint. #[inline] pub fn new( geom: ConstraintGeometry<N>, assembly_id1: usize, assembly_id2: usize, limits: ImpulseLimits<N>, rhs: N, impulse: N, impulse_id: Id, ) -> Self { if geom.ndofs1 == 0 { BilateralGroundConstraint { impulse, r: geom.r, rhs, limits, impulse_id, assembly_id: assembly_id2, j_id: geom.j_id2, wj_id: geom.wj_id2, ndofs: geom.ndofs2, } } else { BilateralGroundConstraint { impulse, r: geom.r, rhs, limits, impulse_id, assembly_id: assembly_id1, j_id: geom.j_id1, wj_id: geom.wj_id1, ndofs: geom.ndofs1, } } } }