Add joint_natural_frequency and joint_damping_ratio to GenericJoint.

src/dynamics/integration_parameters.rs

@@ -43,19 +43,6 @@ pub struct IntegrationParameters {
     /// (default: `30.0`).
     pub contact_natural_frequency: Real,
 
-    /// > 0: the natural frequency used by the springs for joint constraint regularization.
-    ///
-    /// Increasing this value will make it so that penetrations get fixed more quickly.
-    /// (default: `1.0e6`).
-    pub joint_natural_frequency: Real,
-
-    /// The fraction of critical damping applied to the joint for constraints regularization.
-    ///
-    /// Larger values make the constraints more compliant (allowing more joint
-    /// drift before stabilization).
-    /// (default `1.0`).
-    pub joint_damping_ratio: Real,
-
     /// The coefficient in `[0, 1]` applied to warmstart impulses, i.e., impulses that are used as the
     /// initial solution (instead of 0) at the next simulation step.
     ///
@@ -280,8 +267,6 @@ impl IntegrationParameters {
             min_ccd_dt: 1.0 / 60.0 / 100.0,
             contact_natural_frequency: 30.0,
             contact_damping_ratio: 5.0,
-            joint_natural_frequency: 1.0e6,
-            joint_damping_ratio: 1.0,
             warmstart_coefficient: 1.0,
             num_internal_pgs_iterations: 1,
             num_internal_stabilization_iterations: 2,

src/dynamics/joint/generic_joint.rs

@@ -251,23 +251,15 @@ pub struct GenericJoint {
     /// > 0: the natural frequency used by the springs for joint constraint regularization.
     ///
     /// Increasing this value will make it so that penetrations get fixed more quickly.
-    /// (default: [`None`]).
-    ///
-    /// If [`None`],
-    /// [`IntegrationParameters::joint_natural_frequency`](crate::prelude::IntegrationParameters::joint_natural_frequency)
-    /// is used.
-    pub joint_natural_frequency: Option<Real>,
+    /// (default: `1.0e6`).
+    pub joint_natural_frequency: Real,
 
     /// The fraction of critical damping applied to the joint for constraints regularization.
     ///
     /// Larger values make the constraints more compliant (allowing more joint
     /// drift before stabilization).
-    /// (default [`None`]).
-    ///
-    /// If [`None`],
-    /// [`IntegrationParameters::joint_damping_ratio`](crate::prelude::IntegrationParameters::joint_damping_ratio)
-    /// is used.
-    pub joint_damping_ratio: Option<Real>,
+    /// (default `1.0`).
+    pub joint_damping_ratio: Real,
 }
 
 impl Default for GenericJoint {
@@ -284,8 +276,8 @@ impl Default for GenericJoint {
             contacts_enabled: true,
             enabled: JointEnabled::Enabled,
             user_data: 0,
-            joint_natural_frequency: None,
-            joint_damping_ratio: None,
+            joint_natural_frequency: 1.0e6,
+            joint_damping_ratio: 1.0,
         }
     }
 }

src/dynamics/joint/multibody_joint/multibody_joint_set.rs

@@ -464,6 +464,10 @@ impl MultibodyJointSet {
     pub fn multibodies(&self) -> impl Iterator<Item = &Multibody> {
         self.multibodies.iter().map(|e| e.1)
     }
+    /// Iterates through all the multibodies on this set.
+    pub fn multibody_links_mut(&mut self) -> impl Iterator<Item = &mut MultibodyLink> {
+        self.multibodies.iter_mut().flat_map(|e| e.1.links_mut())
+    }
 }
 
 impl std::ops::Index<MultibodyIndex> for MultibodyJointSet {

src/dynamics/joint/multibody_joint/unit_multibody_joint.rs

@@ -20,9 +20,8 @@ pub fn unit_joint_limit_constraint(
     constraints: &mut [JointGenericOneBodyConstraint],
     insert_at: &mut usize,
 ) {
-    // TODO: use joint_natural_frequency and joint_damping_ratio from multibodies GenericJoint.
-    let joint_natural_frequency = params.joint_natural_frequency;
-    let joint_damping_ratio = params.joint_damping_ratio;
+    let joint_natural_frequency = link.joint.data.joint_natural_frequency;
+    let joint_damping_ratio = link.joint.data.joint_damping_ratio;
 
     let ndofs = multibody.ndofs();
     let min_enabled = curr_pos < limits[0];

src/dynamics/solver/joint_constraint/joint_generic_constraint.rs

@@ -89,12 +89,8 @@ impl JointGenericTwoBodyConstraint {
             locked_axes,
         );
 
-        let joint_natural_frequency = joint
-            .joint_natural_frequency
-            .unwrap_or(params.joint_natural_frequency);
-        let joint_damping_ratio = joint
-            .joint_damping_ratio
-            .unwrap_or(params.joint_damping_ratio);
+        let joint_natural_frequency = joint.joint_natural_frequency;
+        let joint_damping_ratio = joint.joint_damping_ratio;
 
         let start = len;
         for i in DIM..SPATIAL_DIM {
@@ -392,12 +388,8 @@ impl JointGenericOneBodyConstraint {
             locked_axes,
         );
 
-        let joint_natural_frequency = joint
-            .joint_natural_frequency
-            .unwrap_or(params.joint_natural_frequency);
-        let joint_damping_ratio = joint
-            .joint_damping_ratio
-            .unwrap_or(params.joint_damping_ratio);
+        let joint_natural_frequency = joint.joint_natural_frequency;
+        let joint_damping_ratio = joint.joint_damping_ratio;
 
         let start = len;
         for i in DIM..SPATIAL_DIM {

src/dynamics/solver/joint_constraint/joint_velocity_constraint.rs

@@ -158,12 +158,8 @@ impl JointTwoBodyConstraint<Real, 1> {
         let limit_axes = joint.limit_axes.bits() & !locked_axes;
         let coupled_axes = joint.coupled_axes.bits();
 
-        let joint_natural_frequency = joint
-            .joint_natural_frequency
-            .unwrap_or(params.joint_natural_frequency);
-        let joint_damping_ratio = joint
-            .joint_damping_ratio
-            .unwrap_or(params.joint_damping_ratio);
+        let joint_natural_frequency = joint.joint_natural_frequency;
+        let joint_damping_ratio = joint.joint_damping_ratio;
         // The has_lin/ang_coupling test is needed to avoid shl overflow later.
         let has_lin_coupling = (coupled_axes & JointAxesMask::LIN_AXES.bits()) != 0;
         let first_coupled_lin_axis_id =
@@ -532,12 +528,8 @@ impl JointOneBodyConstraint<Real, 1> {
         let limit_axes = joint.limit_axes.bits() & !locked_axes;
         let coupled_axes = joint.coupled_axes.bits();
 
-        let joint_natural_frequency = joint
-            .joint_natural_frequency
-            .unwrap_or(params.joint_natural_frequency);
-        let joint_damping_ratio = joint
-            .joint_damping_ratio
-            .unwrap_or(params.joint_damping_ratio);
+        let joint_natural_frequency = joint.joint_natural_frequency;
+        let joint_damping_ratio = joint.joint_damping_ratio;
         // The has_lin/ang_coupling test is needed to avoid shl overflow later.
         let has_lin_coupling = (coupled_axes & JointAxesMask::LIN_AXES.bits()) != 0;
         let first_coupled_lin_axis_id =

src_testbed/testbed.rs

@@ -125,6 +125,24 @@ pub struct TestbedState {
     camera_locked: bool, // Used so that the camera can remain the same before and after we change backend or press the restart button.
 }
 
+#[derive(Resource, Clone, Debug, PartialEq)]
+pub struct JointsConfiguration {
+    /// Sets [`rapier::prelude::GenericJoint::joint_natural_frequency`] for all joints.
+    pub joint_natural_frequency: Real,
+
+    /// Sets [`rapier::prelude::GenericJoint::joint_damping_ratio`] for all joints.
+    pub joint_damping_ratio: Real,
+}
+
+impl Default for JointsConfiguration {
+    fn default() -> Self {
+        Self {
+            joint_natural_frequency: 1.0e6,
+            joint_damping_ratio: 1.0,
+        }
+    }
+}
+
 #[derive(Resource)]
 struct SceneBuilders(SimulationBuilders);
 
@@ -442,6 +460,7 @@ impl TestbedApp {
                     ..Default::default()
                 })
                 .init_resource::<mouse::SceneMouse>()
+                .init_resource::<JointsConfiguration>()
                 .add_plugins(DefaultPlugins.set(window_plugin))
                 .add_plugins(OrbitCameraPlugin)
                 .add_plugins(WireframePlugin)
@@ -462,7 +481,11 @@ impl TestbedApp {
                 .insert_non_send_resource(self.plugins)
                 .add_systems(Update, update_testbed)
                 .add_systems(Update, egui_focus)
-                .add_systems(Update, track_mouse_state);
+                .add_systems(Update, track_mouse_state)
+                .add_systems(
+                    Update,
+                    update_joint_configuration.run_if(resource_changed::<JointsConfiguration>),
+                );
 
             init(&mut app);
             app.run();
@@ -1184,6 +1207,7 @@ fn update_testbed(
     builders: ResMut<SceneBuilders>,
     mut graphics: NonSendMut<GraphicsManager>,
     mut state: ResMut<TestbedState>,
+    mut joints_configuration: ResMut<JointsConfiguration>,
     mut debug_render: ResMut<DebugRenderPipelineResource>,
     mut harness: NonSendMut<Harness>,
     #[cfg(feature = "other-backends")] mut other_backends: NonSendMut<OtherBackends>,
@@ -1237,7 +1261,18 @@ fn update_testbed(
     // Update UI
     {
         let harness = &mut *harness;
-        ui::update_ui(&mut ui_context, &mut state, harness, &mut debug_render);
+        // Bypass change detection, to avoid changing all joints data each frames.
+        let mut joints_configuration_cloned = joints_configuration.clone();
+        ui::update_ui(
+            &mut ui_context,
+            &mut state,
+            harness,
+            &mut debug_render,
+            &mut joints_configuration_cloned,
+        );
+        if joints_configuration_cloned != *joints_configuration {
+            *joints_configuration = joints_configuration_cloned;
+        }
 
         for plugin in &mut plugins.0 {
             plugin.update_ui(
@@ -1655,3 +1690,17 @@ fn highlight_hovered_body(
         }
     }
 }
+
+pub fn update_joint_configuration(
+    joints_configuration: Res<JointsConfiguration>,
+    mut harness: NonSendMut<Harness>,
+) {
+    for joint in harness.physics.impulse_joints.iter_mut() {
+        joint.1.data.joint_natural_frequency = joints_configuration.joint_natural_frequency;
+        joint.1.data.joint_damping_ratio = joints_configuration.joint_damping_ratio;
+    }
+    for joint in harness.physics.multibody_joints.multibody_links_mut() {
+        joint.joint.data.joint_natural_frequency = joints_configuration.joint_natural_frequency;
+        joint.joint.data.joint_damping_ratio = joints_configuration.joint_damping_ratio;
+    }
+}

src_testbed/ui.rs

@@ -6,8 +6,8 @@ use std::num::NonZeroUsize;
 use crate::debug_render::DebugRenderPipelineResource;
 use crate::harness::Harness;
 use crate::testbed::{
-    RapierSolverType, RunMode, TestbedActionFlags, TestbedState, TestbedStateFlags,
-    PHYSX_BACKEND_PATCH_FRICTION, PHYSX_BACKEND_TWO_FRICTION_DIR,
+    JointsConfiguration, RapierSolverType, RunMode, TestbedActionFlags, TestbedState,
+    TestbedStateFlags, PHYSX_BACKEND_PATCH_FRICTION, PHYSX_BACKEND_TWO_FRICTION_DIR,
 };
 
 use crate::PhysicsState;
@@ -21,6 +21,7 @@ pub fn update_ui(
     state: &mut TestbedState,
     harness: &mut Harness,
     debug_render: &mut DebugRenderPipelineResource,
+    joints_configuration: &mut JointsConfiguration,
 ) {
     #[cfg(feature = "profiler_ui")]
     {
@@ -231,13 +232,13 @@ pub fn update_ui(
             );
             ui.add(
                 Slider::new(
-                    &mut integration_parameters.joint_natural_frequency,
+                    &mut joints_configuration.joint_natural_frequency,
                     0.0..=1200000.0,
                 )
                 .text("joint erp"),
             );
             ui.add(
-                Slider::new(&mut integration_parameters.joint_damping_ratio, 0.0..=20.0)
+                Slider::new(&mut joints_configuration.joint_damping_ratio, 0.0..=20.0)
                     .text("joint damping ratio"),
             );
         }