public static void ComputeCorrectiveImpulse(ref BodyVelocities wsvA, ref BodyVelocities wsvB, ref TangentFriction.Projection data, ref Jacobians jacobians,
ref Vector <float> maximumImpulse, ref Vector2Wide accumulatedImpulse, out Vector2Wide correctiveCSI)
{
Matrix2x3Wide.TransformByTransposeWithoutOverlap(wsvA.Linear, jacobians.LinearA, out var csvaLinear);
Matrix2x3Wide.TransformByTransposeWithoutOverlap(wsvA.Angular, jacobians.AngularA, out var csvaAngular);
Matrix2x3Wide.TransformByTransposeWithoutOverlap(wsvB.Linear, jacobians.LinearA, out var csvbLinear);
Matrix2x3Wide.TransformByTransposeWithoutOverlap(wsvB.Angular, jacobians.AngularB, out var csvbAngular);
//Note that the velocity in constraint space is (csvaLinear - csvbLinear + csvaAngular + csvbAngular).
//The subtraction there is due to sharing the linear jacobian between both bodies3D.
//In the following, we need to compute the constraint space *violating* velocity- which is the negation of the above velocity in constraint space.
//So, (csvbLinear - csvaLinear - (csvaAngular + csvbAngular)).
Vector2Wide.Subtract(csvbLinear, csvaLinear, out var csvLinear);
Vector2Wide.Add(csvaAngular, csvbAngular, out var csvAngular);
Vector2Wide.Subtract(csvLinear, csvAngular, out var csv);
Symmetric2x2Wide.TransformWithoutOverlap(csv, data.EffectiveMass, out var csi);
var previousAccumulated = accumulatedImpulse;
Vector2Wide.Add(accumulatedImpulse, csi, out accumulatedImpulse);
//The maximum force of friction depends upon the normal impulse. The maximum is supplied per iteration.
Vector2Wide.Length(accumulatedImpulse, out var accumulatedMagnitude);
//Note division by zero guard.
var scale = Vector.Min(Vector <float> .One, maximumImpulse / Vector.Max(new Vector <float>(1e-16f), accumulatedMagnitude));
Vector2Wide.Scale(accumulatedImpulse, scale, out accumulatedImpulse);
Vector2Wide.Subtract(accumulatedImpulse, previousAccumulated, out correctiveCSI);
}
public static void ComputeCorrectiveImpulse(ref BodyVelocities wsvA, ref Projection data, ref Jacobians jacobians,
ref Vector <float> maximumImpulse, ref Vector2Wide accumulatedImpulse, out Vector2Wide correctiveCSI)
{
Matrix2x3Wide.TransformByTransposeWithoutOverlap(wsvA.Linear, jacobians.LinearA, out var csvaLinear);
Matrix2x3Wide.TransformByTransposeWithoutOverlap(wsvA.Angular, jacobians.AngularA, out var csvaAngular);
Vector2Wide.Add(csvaLinear, csvaAngular, out var csv);
//Required corrective velocity is the negation of the current constraint space velocity.
Symmetric2x2Wide.TransformWithoutOverlap(csv, data.EffectiveMass, out var negativeCSI);
var previousAccumulated = accumulatedImpulse;
Vector2Wide.Subtract(accumulatedImpulse, negativeCSI, out accumulatedImpulse);
//The maximum force of friction depends upon the normal impulse. The maximum is supplied per iteration.
Vector2Wide.Length(accumulatedImpulse, out var accumulatedMagnitude);
//Note division by zero guard.
var scale = Vector.Min(Vector <float> .One, maximumImpulse / Vector.Max(new Vector <float>(1e-16f), accumulatedMagnitude));
Vector2Wide.Scale(accumulatedImpulse, scale, out accumulatedImpulse);
Vector2Wide.Subtract(accumulatedImpulse, previousAccumulated, out correctiveCSI);
}
