Sequential Impulse on StarkNet

This is a prototype of running sequential impulse for 2D physics simulation on StarkNet.

Recap of sequential impulse

Sequential Impulse is a famous method for constraint resolution proposed and popularized by Erin Catto, the creator of the physics engine Box2D which powers Angry Bird.

Each physics body (body in short) is described by the following set of attributes:

center-of-mass coordinate (Cx, Cy)
center-of-mass velocity (V_Cx, V_Cy)
orientation θ
angular velocity around its center-of-mass ω

The computations involved to advance the physics system at every time step are, in order:

For each physics body (body in short), calculate its "candidate" next center-of-mass coordinate (Cx',Cy') and next orientation θ' based on current velocity (V_Cx, v_Cy) and angular velocity ω by Euler method.
Apply force e.g. gravity to calculate its "candidate" next velocity (V_Cx', V_Cy')
Identify all "position constraints". Iterate through the contraints and resolve each one sequentially, where the resolution of any constraint returns a change in the velocities & angular velocities of the bodies involved in the constraint, which is applied and used by the resolution of the next constraint.
Use the finalized next velocities (V_Cx_nxt, V_Cy_nxt) and angular velocities ω_nxt to obtain (Cx_nxt, Cy_nxt) and θ_nxt from (Cx',Cy') and θ' by Euler method.

A constraint can be:

contact constraint, which when stated from the velocity standpoint requires the projection of the relative velocity of the two contact points onto the contact normal is zero
friction constraint, which when stated from the velocity standpoint requires the projection of the relative velocity of the two contact points onto the contact tangent plane is zero
a joint that restricts degree(s) of freedom
etc

This prototype focuses on resolving contact constraint, taking restitution into consideration. To formalize, given a contact position constraint:

C: (PB-PA) • n ≥ 0

where PB and PA are contact points and n is contact normal, the corresponding velocity constraint dC/dt can be expressed in the following form:

dC/dt: JV + b = 0

where V is the velocities and angular velocities bundled together as V = [Vax, Vay, Vaz, ωax, ωay, ωaz, Vbx, Vby, Vbz, ωbx, ωby, ωbz], b=0 (we will modify this later), and J is a 12x1 row-vector Jacobian.

After simplification, J looks like this (in three dimension):

J = [-nx, -ny, 0, 0, 0, (-rax*ny+ray*nx), nx, ny, 0, 0, 0, (rbx*ny-rby*nx)]

where ra=(rax,ray) is the vector from A's center of mass to A's contact point. likewise for rb.

The change in V can be expressed as:

delta V = M^-1 J^T λ, where (M = mass * I_3x3 while I is inertia tensor; λ is the Lagrangian Multiplier):

       [ Ma 0  0  0 ]
M^-1 = [ 0  Ia 0  0 ]
       [ 0  0  Mb 0 ]
       [ 0  0  0  Ib]
       
       
λ = -(JV + b) / (J M^-1 J^T)

Last but not least, to stabilize the bodies at collision as well as adding restitution, instead of b = 0, we have:

b = b_B + b_R

where b_B is the Baumgarte Stabilization term:

b_B = -β * d / dt (d is penetration depth. 0<β<1 and is usually chosen close to 0)

and b_R is the restitution term:

b_R = C_R * 'closing velocity vector of two contact points' dot n
(C_R is the coefficient of restitution; n is the contact normal vector)

Note:

tunneling effect is not dealt with yet.

Reference:

guiltygyoza / sequential-impulse-starknet

Sequential Impulse on StarkNet

Recap of sequential impulse

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