Fix dynamic friction (mistake in paper actually), improve friction
This commit is contained in:
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ef51a9ee30
commit
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@ -1,80 +1,60 @@
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# Blender 4.3.2
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# www.blender.org
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o Object_5
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v -1.841497 0.441915 2.882739
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v -1.528260 -0.439969 4.246670
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v -1.859343 0.407766 2.882677
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v -1.496358 -0.439898 4.246497
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v -1.532271 -0.014560 4.306011
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v -1.458986 0.585761 4.084804
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v -1.169056 1.845618 -0.044352
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v -1.794738 0.759021 -2.991723
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v -1.751396 -0.067717 -3.937637
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v 1.598544 -0.437865 4.228289
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v -1.355442 0.205843 4.443853
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v -1.495447 -0.513379 -3.072723
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v -1.081991 -0.669625 2.507290
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v 1.152275 -0.667619 2.498550
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v 0.035142 0.587956 4.202047
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v 0.035142 1.889431 -0.088813
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v 0.035142 1.953676 -2.216545
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v -1.179023 1.913049 -2.281286
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v -1.418515 1.165435 -4.711776
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v -1.589515 0.055308 -5.153280
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v 1.558805 0.203133 4.425279
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v 1.565731 -0.511086 -3.071773
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v 1.821680 -0.067717 -3.937637
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v 1.911781 0.441916 2.882739
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v 0.035142 -0.194318 -4.868722
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v 1.529270 0.585761 4.084804
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v 1.239340 1.845618 -0.044352
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v 1.249308 1.913049 -2.281285
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v 1.488799 1.165434 -4.711775
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v 0.035142 1.168489 -4.782736
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v 0.035142 0.107657 -5.212766
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v 1.659799 0.055307 -5.153279
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v 1.865023 0.759021 -2.991723
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v -1.458925 0.588598 4.098169
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v -1.169193 1.844997 -0.020979
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v -1.767808 0.808841 -2.967643
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v -1.755688 0.019238 -3.954955
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v 1.566465 -0.437912 4.228478
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v -1.355442 0.201413 4.442485
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v -1.527377 -0.513372 -3.070427
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v -1.081991 -0.669592 2.507292
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v 1.152275 -0.667651 2.498548
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v -1.177522 1.915790 -2.273865
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v -1.440784 1.165512 -4.710642
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v -1.567565 0.052245 -5.155589
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v 1.558806 0.207560 4.426651
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v 1.597780 -0.511147 -3.072741
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v 1.825968 0.019292 -3.954931
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v 1.929686 0.407656 2.882679
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v 1.529256 0.593033 4.083607
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v 1.239481 1.844996 -0.020995
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v 1.247809 1.915789 -2.273863
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v 1.511068 1.165512 -4.710640
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v 1.637697 0.053622 -5.155048
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v 1.838094 0.808837 -2.967645
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s 0
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f 1 2 3
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f 1 3 4
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f 1 4 5
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f 31 26 25 22
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f 1 6 7
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f 1 7 2
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f 2 9 3
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f 20 12 11 10
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f 17 12 11 10
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f 3 9 4
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f 4 9 13
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f 6 17 18
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f 6 13 14
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f 8 16 9 2
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f 7 10 2 1
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f 19 21 20
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f 12 8 2 11
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f 27 31 30
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f 14 5 4 13
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f 5 16 6 1
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f 5 13 6 1
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f 5 4 20 21
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f 15 7 6 14
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f 14 13 22 23
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@ -69,7 +69,7 @@ Car :: struct {
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SOLVER_CONFIG :: physics.Solver_Config {
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timestep = 1.0 / 120,
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gravity = rl.Vector3{0, -9.8, 0},
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substreps_minus_one = 1 - 1,
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substreps_minus_one = 2 - 1,
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}
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Game_Memory :: struct {
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@ -277,9 +277,9 @@ update_runtime_world :: proc(runtime_world: ^Runtime_World, dt: f32) {
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&runtime_world.solver_state,
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hash.fnv32a(slice.to_bytes([]int{(x | y << 8)})),
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physics.Body_Config {
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initial_pos = {f32(x) * 2, 5, f32(y) * 2},
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initial_pos = {f32(x) * 3 + 20, 5 + f32(y) * 2, 0},
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initial_rot = linalg.QUATERNIONF32_IDENTITY,
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shape = physics.Shape_Box{size = 1.5},
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shape = physics.Shape_Box{size = 1},
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mass = 10,
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},
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)
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@ -4,6 +4,7 @@ import "collision"
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import "core:fmt"
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import "core:math"
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import lg "core:math/linalg"
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import "core:slice"
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import "libs:tracy"
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import rl "vendor:raylib"
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@ -77,7 +78,10 @@ GLOBAL_PLANE :: collision.Plane {
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Contact_Pair :: struct {
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a, b: Body_Handle,
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prev_x_a, prev_x_b: rl.Vector3,
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prev_q_a, prev_q_b: rl.Quaternion,
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manifold: collision.Contact_Manifold,
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applied_corrections: int,
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lambda_normal: [4]f32,
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lambda_tangent: [4]f32,
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}
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@ -150,6 +154,10 @@ simulate_step :: proc(scene: ^Scene, config: Solver_Config) {
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contact_pair^ = Contact_Pair {
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a = Body_Handle(i + 1),
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b = Body_Handle(j + 1),
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prev_x_a = body.x,
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prev_x_b = body2.x,
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prev_q_a = body.q,
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prev_q_b = body2.q,
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manifold = raw_manifold,
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}
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scene.contact_pairs_len += 1
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@ -173,7 +181,8 @@ simulate_step :: proc(scene: ^Scene, config: Solver_Config) {
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body_local_to_world(body, p1),
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body_local_to_world(body2, p2)
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separation := min(lg.dot(p2 - p1, manifold.normal), 0)
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p_diff_normal := lg.dot(p2 - p1, manifold.normal)
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separation := min(p_diff_normal, 0)
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handled_pairs[{a = min(i, j), b = max(i, j)}] = true
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@ -187,24 +196,70 @@ simulate_step :: proc(scene: ^Scene, config: Solver_Config) {
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p1,
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p2,
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)
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if ok {
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contact_pair.applied_corrections += 1
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contact_pair.lambda_normal[point_idx] = lambda_norm
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if ok {
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apply_correction(body, corr1, p1)
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apply_correction(body2, corr2, p2)
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}
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}
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}
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}
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}
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}
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}
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}
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// Static friction
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if ok {
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p1, p2 =
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body_local_to_world(
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body,
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manifold.points_a[point_idx],
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),
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body_local_to_world(
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body2,
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manifold.points_b[point_idx],
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{
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tracy.ZoneN("simulate_step::static_friction")
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if true {
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context = context
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context.user_ptr = scene
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slice.sort_by(
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scene.contact_pairs[:scene.contact_pairs_len],
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proc(c1, c2: Contact_Pair) -> bool {
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scene := cast(^Scene)context.user_ptr
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find_min_contact_y :: proc(
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scene: ^Scene,
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c: Contact_Pair,
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) -> (
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min_contact_y: f32,
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) {
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min_contact_y = max(f32)
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body_a, body_b := get_body(scene, c.a), get_body(scene, c.b)
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for i in 0 ..< c.manifold.points_len {
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min_contact_y = min(
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body_local_to_world(body_a, c.manifold.points_a[i]).y,
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body_local_to_world(body_b, c.manifold.points_b[i]).y,
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)
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}
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return
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}
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min_y1 := find_min_contact_y(scene, c1)
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min_y2 := find_min_contact_y(scene, c2)
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return min_y1 > min_y2
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},
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)
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}
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for &contact_pair in scene.contact_pairs[:scene.contact_pairs_len] {
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manifold := contact_pair.manifold
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body, body2 := get_body(scene, contact_pair.a), get_body(scene, contact_pair.b)
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i, j := int(contact_pair.a) - 1, int(contact_pair.b) - 1
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lambda_tangent: f32
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for point_idx in 0 ..< manifold.points_len {
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lambda_norm := contact_pair.lambda_normal[point_idx]
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if lambda_norm != 0 {
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p1 := body_local_to_world(body, manifold.points_a[point_idx])
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p2 := body_local_to_world(body2, manifold.points_b[point_idx])
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prev_p1 :=
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body_states[i].prev_x +
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lg.quaternion_mul_vector3(
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@ -218,31 +273,32 @@ simulate_step :: proc(scene: ^Scene, config: Solver_Config) {
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manifold.points_b[point_idx],
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)
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delta_p := (p2 - prev_p2) - (p1 - prev_p1)
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delta_p_tangent_norm :=
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delta_p -
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lg.dot(manifold.normal, delta_p) * manifold.normal
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delta_p_tangent_len := lg.length(delta_p_tangent_norm)
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p_diff_tangent := (p1 - prev_p1) - (p2 - prev_p2)
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p_diff_tangent -= lg.dot(p_diff_tangent, manifold.normal) * manifold.normal
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if delta_p_tangent_len > 0 {
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delta_p_tangent_norm /= delta_p_tangent_len
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tangent_diff_len := lg.length(p_diff_tangent)
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lambda_tangent, corr1_tangent, corr2_tangent, ok_tangent :=
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if tangent_diff_len > 0 {
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tangent_diff_normalized := p_diff_tangent / tangent_diff_len
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delta_lambda_tangent, corr1_tangent, corr2_tangent, ok_tangent :=
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calculate_constraint_params2(
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dt,
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body,
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body2,
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0,
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-delta_p_tangent_len,
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delta_p_tangent_norm,
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-tangent_diff_len / f32(contact_pair.applied_corrections),
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-tangent_diff_normalized,
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p1,
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p2,
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)
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contact_pair.lambda_tangent[point_idx] = lambda_tangent
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new_lambda_tangent := lambda_tangent + delta_lambda_tangent
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STATIC_FRICTION :: 0.7
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if ok_tangent &&
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lambda_tangent < lambda_norm * STATIC_FRICTION {
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if ok_tangent && delta_lambda_tangent < STATIC_FRICTION * lambda_norm {
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lambda_tangent = new_lambda_tangent
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apply_correction(body, corr1_tangent, p1)
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apply_correction(body2, corr2_tangent, p2)
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}
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@ -251,10 +307,6 @@ simulate_step :: proc(scene: ^Scene, config: Solver_Config) {
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}
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}
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}
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}
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}
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}
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}
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{
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tracy.ZoneN("simulate_step::suspension_constraints")
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@ -291,8 +343,8 @@ simulate_step :: proc(scene: ^Scene, config: Solver_Config) {
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solve_velocities(scene, body_states, inv_dt)
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{
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tracy.ZoneN("simulate_step::collision_velocities")
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if true {
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tracy.ZoneN("simulate_step::dynamic_friction")
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for &pair in scene.contact_pairs[:scene.contact_pairs_len] {
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manifold := &pair.manifold
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@ -311,27 +363,30 @@ simulate_step :: proc(scene: ^Scene, config: Solver_Config) {
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v_normal := lg.dot(manifold.normal, v) * manifold.normal
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v_tangent := v - v_normal
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DYNAMIC_FRICTION :: 0.2
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DYNAMIC_FRICTION :: 0.4
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v_tangent_len := lg.length(v_tangent)
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if v_tangent_len > 0 {
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v_tangent_norm := v_tangent / v_tangent_len
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w1, w2 :=
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get_body_inverse_mass(body1, v_tangent_norm, p1),
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get_body_inverse_mass(body2, v_tangent_norm, p2)
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w := w1 + w2
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if w > 0 {
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delta_v :=
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-(v_tangent / v_tangent_len) *
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-v_tangent_norm *
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min(
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dt *
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DYNAMIC_FRICTION *
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abs(pair.lambda_normal[point_idx] / (dt * dt)),
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v_tangent_len,
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v_tangent_len / w,
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)
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delta_v_norm := lg.normalize0(delta_v)
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// delta_v_norm := lg.normalize0(delta_v)
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w1, w2 :=
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get_body_inverse_mass(body1, delta_v_norm, p1),
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get_body_inverse_mass(body2, delta_v_norm, p2)
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w := w1 + w2
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if w != 0 {
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p := delta_v / w
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p := delta_v
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body1.v += p * body1.inv_mass
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body2.v -= p * body2.inv_mass
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@ -489,7 +544,7 @@ calculate_constraint_params2 :: proc(
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return
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}
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w := get_body_inverse_mass(body1, error_gradient, pos1)
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w := get_body_inverse_mass(body1, -error_gradient, pos1)
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w += get_body_inverse_mass(body2, error_gradient, pos2)
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if w == 0 {
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BIN
src_assets/car_convex.blend
(Stored with Git LFS)
BIN
src_assets/car_convex.blend
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BIN
src_assets/car_convex.blend1
(Stored with Git LFS)
BIN
src_assets/car_convex.blend1
(Stored with Git LFS)
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