nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Some small performance improvements.

Browse Source
This commit is contained in:
Crozet Sébastien
2021-04-01 10:11:32 +02:00
parent 4fb898c77c
commit 0ecc302971
4 changed files with 13 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
src/dynamics/ccd/ccd_solver.rs
View File

@@ -52,7 +52,7 @@ impl CCDSolver {
* crate::utils::inv(body.max_point_velocity()))
.min(dt);
// println!("Min toi: {}, Toi: {}", min_toi, toi);
body.integrate_next_position(toi.max(min_toi), false);
body.integrate_next_position(toi.max(min_toi));
}
}
}

4
src/dynamics/integration_parameters.rs
View File

@@ -38,7 +38,7 @@ pub struct IntegrationParameters {
/// Each cached impulse are multiplied by this coefficient in `[0, 1]`
/// when they are re-used to initialize the solver (default `1.0`).
pub warmstart_coeff: Real,
/// Correction factor to avoid large warmstart impulse after a strong impact.
/// Correction factor to avoid large warmstart impulse after a strong impact (default `10.0`).
pub warmstart_correction_slope: Real,
/// 0-1: how much of the velocity to dampen out in the constraint solver?
@@ -165,7 +165,7 @@ impl Default for IntegrationParameters {
velocity_solve_fraction: 1.0,
velocity_based_erp: 0.0,
warmstart_coeff: 1.0,
warmstart_correction_slope: 1.0,
warmstart_correction_slope: 10.0,
allowed_linear_error: 0.005,
prediction_distance: 0.002,
allowed_angular_error: 0.001,

7
src/dynamics/rigid_body.rs
View File

@@ -457,15 +457,14 @@ impl RigidBody {
shift * Isometry::new(self.linvel * dt, self.angvel * dt) * shift.inverse()
}
pub(crate) fn integrate_next_position(&mut self, dt: Real, apply_damping: bool) {
// TODO: do we want to apply damping before or after the velocity integration?
if apply_damping {
pub(crate) fn apply_damping(&mut self, dt: Real) {
self.linvel *= 1.0 / (1.0 + dt * self.linear_damping);
self.angvel *= 1.0 / (1.0 + dt * self.angular_damping);
}
pub(crate) fn integrate_next_position(&mut self, dt: Real) {
self.next_position = self.integrate_velocity(dt) * self.position;
let _ = self.next_position.rotation.renormalize();
let _ = self.next_position.rotation.renormalize_fast();
}
/// The linear velocity of this rigid-body.

6
src/dynamics/solver/island_solver.rs
View File

@@ -77,7 +77,8 @@ impl IslandSolver {
counters.solver.velocity_update_time.resume();
bodies.foreach_active_island_body_mut_internal(island_id, |_, rb| {
rb.integrate_next_position(params.dt, true)
rb.apply_damping(params.dt);
rb.integrate_next_position(params.dt);
});
counters.solver.velocity_update_time.pause();
} else {
@@ -87,7 +88,8 @@ impl IslandSolver {
bodies.foreach_active_island_body_mut_internal(island_id, |_, rb| {
// Since we didn't run the velocity solver we need to integrate the accelerations here
rb.integrate_accelerations(params.dt);
rb.integrate_next_position(params.dt, true);
rb.apply_damping(params.dt);
rb.integrate_next_position(params.dt);
});
counters.solver.velocity_update_time.pause();
}