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fix: also apply joint limits in case of equality
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@sebcrozet
sebcrozet committed Dec 10, 2023
1 parent fef7f0f commit 7655744
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Showing 2 changed files with 19 additions and 19 deletions.
16 changes: 8 additions & 8 deletions src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint_builder.rs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -214,8 +214,8 @@ impl JointVelocityConstraintBuilder<Real> {
);

let dist = self.lin_err.dot(&lin_jac);
let min_enabled = dist < limits[0];
let max_enabled = limits[1] < dist;
let min_enabled = dist <= limits[0];
let max_enabled = limits[1] <= dist;

let erp_inv_dt = params.joint_erp_inv_dt();
let rhs_bias = ((dist - limits[1]).max(0.0) - (limits[0] - dist).max(0.0)) * erp_inv_dt;
Expand Down Expand Up @@ -368,8 +368,8 @@ impl JointVelocityConstraintBuilder<Real> {
let s_ang = (self.ang_err.angle() / 2.0).sin();
#[cfg(feature = "dim3")]
let s_ang = self.ang_err.imag()[_limited_axis];
let min_enabled = s_ang < s_limits[0];
let max_enabled = s_limits[1] < s_ang;
let min_enabled = s_ang <= s_limits[0];
let max_enabled = s_limits[1] <= s_ang;
let impulse_bounds = [
min_enabled as u32 as Real * -Real::MAX,
max_enabled as u32 as Real * Real::MAX,
Expand Down Expand Up @@ -612,8 +612,8 @@ impl JointVelocityConstraintBuilder<Real> {
);

let dist = self.lin_err.dot(&lin_jac);
let min_enabled = dist < limits[0];
let max_enabled = limits[1] < dist;
let min_enabled = dist <= limits[0];
let max_enabled = limits[1] <= dist;

let erp_inv_dt = params.joint_erp_inv_dt();
let rhs_bias = ((dist - limits[1]).max(0.0) - (limits[0] - dist).max(0.0)) * erp_inv_dt;
Expand Down Expand Up @@ -755,8 +755,8 @@ impl JointVelocityConstraintBuilder<Real> {
let s_ang = (self.ang_err.angle() / 2.0).sin();
#[cfg(feature = "dim3")]
let s_ang = self.ang_err.imag()[_limited_axis];
let min_enabled = s_ang < s_limits[0];
let max_enabled = s_limits[1] < s_ang;
let min_enabled = s_ang <= s_limits[0];
let max_enabled = s_limits[1] <= s_ang;
let impulse_bounds = [
min_enabled as u32 as Real * -Real::MAX,
max_enabled as u32 as Real * Real::MAX,
Expand Down
22 changes: 11 additions & 11 deletions src/dynamics/solver/joint_constraint/joint_velocity_constraint_builder.rs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -95,8 +95,8 @@ impl<N: WReal> JointVelocityConstraintBuilder<N> {
self.lock_linear(params, joint_id, body1, body2, limited_axis, writeback_id);

let dist = self.lin_err.dot(&constraint.lin_jac);
let min_enabled = dist.simd_lt(limits[0]);
let max_enabled = limits[1].simd_lt(dist);
let min_enabled = dist.simd_le(limits[0]);
let max_enabled = limits[1].simd_le(dist);

let erp_inv_dt = N::splat(params.joint_erp_inv_dt());
let cfm_coeff = N::splat(params.joint_cfm_coeff());
Expand Down Expand Up @@ -293,8 +293,8 @@ impl<N: WReal> JointVelocityConstraintBuilder<N> {
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_lt(s_limits[0]);
let max_enabled = s_limits[1].simd_lt(s_ang);
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),
Expand Down Expand Up @@ -498,8 +498,8 @@ impl<N: WReal> JointVelocityConstraintBuilder<N> {
let lin_jac = self.basis.column(limited_axis).into_owned();
let dist = self.lin_err.dot(&lin_jac);

let min_enabled = dist.simd_lt(limits[0]);
let max_enabled = limits[1].simd_lt(dist);
let min_enabled = dist.simd_le(limits[0]);
let max_enabled = limits[1].simd_le(dist);

let impulse_bounds = [
N::splat(-Real::INFINITY).select(min_enabled, zero),
Expand Down Expand Up @@ -835,7 +835,7 @@ impl<N: WReal> JointVelocityConstraintBuilder<N> {
joint_id: [JointIndex; LANES],
body1: &SolverBody<N, LANES>,
body2: &SolverBody<N, LANES>,
limited_axis: usize,
_limited_axis: usize,
limits: [N; 2],
writeback_id: WritebackId,
) -> JointVelocityGroundConstraint<N, LANES> {
Expand All @@ -845,9 +845,9 @@ impl<N: WReal> JointVelocityConstraintBuilder<N> {
#[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_lt(s_limits[0]);
let max_enabled = s_limits[1].simd_lt(s_ang);
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),
Expand All @@ -857,7 +857,7 @@ impl<N: WReal> JointVelocityConstraintBuilder<N> {
#[cfg(feature = "dim2")]
let ang_jac = N::one();
#[cfg(feature = "dim3")]
let ang_jac = self.ang_basis.column(limited_axis).into_owned();
let ang_jac = self.ang_basis.column(_limited_axis).into_owned();
let dvel = ang_jac.gdot(body2.angvel) - ang_jac.gdot(body1.angvel);
let rhs_wo_bias = dvel;

Expand Down

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