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feat: reduce the amount of duplicate work the broad-phase is doing for user changes and CCD + release v0.28.0 (#872)

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* feat: reduce the amount of duplicate work the broad-phase is doing for user changes and CCD

* Release v0.28.0

* chore: fix warnings

* chore: clippy fixes

* chore: more clippy fixes
This commit is contained in:
Sébastien Crozet
2025-08-08 18:15:34 +02:00
committed by GitHub
parent 038eb34aba
commit 317322b31b
43 changed files with 351 additions and 328 deletions
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20
CHANGELOG.md
View File

@@ -1,3 +1,23 @@
## v0.28.0 (08 August 2025)
### Modified
- Update to nalgebra 0.34 and parry 0.23.
- Only run the broad-phase once at the beginning of the physics step.
- Don’t rebuild a BVH from scratch for CCD. Instead, reuse the broad-phase bvh with localized changes.
- The public methods of `IslandSolver` has changed slightly to take the broad-phase as input.
- Removed the `BroadPhase` trait and use the BVH broad-phase directly instead of a trait-object.
### Added
- Add `Collider::compute_broad_phase_aabb` to compute the AABB to be used by the broad-phase, taking
into account its contact skin, prediction, and soft-ccd.
### Fix
- Fix issue where some solver contacts would disappear from the contact graph before the user
had a chance to read them.
## v0.27.0 (24 July 2025)
### Modified

2
benchmarks2d/Cargo.toml
View File

@@ -12,7 +12,7 @@ other-backends = ["rapier_testbed2d/other-backends"]
enhanced-determinism = ["rapier2d/enhanced-determinism"]
[dependencies]
rand = "0.8"
rand = "0.9"
Inflector = "0.11"
[dependencies.rapier_testbed2d]

4
benchmarks2d/convex_polygons2.rs
View File

@@ -1,4 +1,4 @@
use rand::distributions::{Distribution, Standard};
use rand::distr::{Distribution, StandardUniform};
use rand::{SeedableRng, rngs::StdRng};
use rapier_testbed2d::Testbed;
use rapier2d::prelude::*;
@@ -48,7 +48,7 @@ pub fn init_world(testbed: &mut Testbed) {
let centery = shift / 2.0;
let mut rng = StdRng::seed_from_u64(0);
let distribution = Standard;
let distribution = StandardUniform;
for i in 0..num {
for j in 0usize..num * 5 {

2
benchmarks3d/Cargo.toml
View File

@@ -12,7 +12,7 @@ other-backends = ["rapier_testbed3d/other-backends"]
enhanced-determinism = ["rapier3d/enhanced-determinism"]
[dependencies]
rand = "0.8"
rand = "0.9"
Inflector = "0.11"
oorandom = "11"

4
benchmarks3d/convex_polyhedron3.rs
View File

@@ -1,4 +1,4 @@
use rand::distributions::{Distribution, Standard};
use rand::distr::{Distribution, StandardUniform};
use rand::{SeedableRng, rngs::StdRng};
use rapier_testbed3d::Testbed;
use rapier3d::prelude::*;
@@ -39,7 +39,7 @@ pub fn init_world(testbed: &mut Testbed) {
let mut offset = -(num as f32) * shift * 0.5;
let mut rng = StdRng::seed_from_u64(0);
let distribution = Standard;
let distribution = StandardUniform;
for j in 0usize..47 {
for i in 0..num {

5
benchmarks3d/ray_cast3.rs
View File

@@ -51,10 +51,7 @@ pub fn init_world(testbed: &mut Testbed) {
let t1 = std::time::Instant::now();
let max_toi = ray_ball_radius - 1.0;
let Some(broad_phase) = physics.broad_phase.downcast_ref::<BroadPhaseBvh>() else {
return;
};
let query_pipeline = broad_phase.as_query_pipeline(
let query_pipeline = physics.broad_phase.as_query_pipeline(
physics.narrow_phase.query_dispatcher(),
&physics.bodies,
&physics.colliders,

6
crates/rapier2d-f64/Cargo.toml
View File

@@ -1,6 +1,6 @@
[package]
name = "rapier2d-f64"
version = "0.27.0"
version = "0.28.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "2-dimensional physics engine in Rust."
documentation = "https://docs.rs/rapier2d"
@@ -68,8 +68,8 @@ required-features = ["dim2", "f64"]
vec_map = { version = "0.8", optional = true }
web-time = { version = "1.1", optional = true }
num-traits = "0.2"
nalgebra = "0.33"
parry2d-f64 = "0.22.0"
nalgebra = "0.34"
parry2d-f64 = "0.23.0"
simba = "0.9"
approx = "0.5"
rayon = { version = "1", optional = true }

6
crates/rapier2d/Cargo.toml
View File

@@ -1,6 +1,6 @@
[package]
name = "rapier2d"
version = "0.27.0"
version = "0.28.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "2-dimensional physics engine in Rust."
documentation = "https://docs.rs/rapier2d"
@@ -69,8 +69,8 @@ required-features = ["dim2", "f32"]
vec_map = { version = "0.8", optional = true }
web-time = { version = "1.1", optional = true }
num-traits = "0.2"
nalgebra = "0.33"
parry2d = "0.22.0"
nalgebra = "0.34"
parry2d = "0.23.0"
simba = "0.9"
approx = "0.5"
rayon = { version = "1", optional = true }

6
crates/rapier3d-f64/Cargo.toml
View File

@@ -1,6 +1,6 @@
[package]
name = "rapier3d-f64"
version = "0.27.0"
version = "0.28.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "3-dimensional physics engine in Rust."
documentation = "https://docs.rs/rapier3d"
@@ -71,8 +71,8 @@ required-features = ["dim3", "f64"]
vec_map = { version = "0.8", optional = true }
web-time = { version = "1.1", optional = true }
num-traits = "0.2"
nalgebra = "0.33"
parry3d-f64 = "0.22.0"
nalgebra = "0.34"
parry3d-f64 = "0.23.0"
simba = "0.9"
approx = "0.5"
rayon = { version = "1", optional = true }

4
crates/rapier3d-meshloader/Cargo.toml
View File

@@ -1,6 +1,6 @@
[package]
name = "rapier3d-meshloader"
version = "0.8.0"
version = "0.9.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "STL file loader for the 3D rapier physics engine."
documentation = "https://docs.rs/rapier3d-meshloader"
@@ -29,4 +29,4 @@ thiserror = "2"
profiling = "1.0"
mesh-loader = "0.1.12"
rapier3d = { version = "0.27.0", path = "../rapier3d" }
rapier3d = { version = "0.28.0", path = "../rapier3d" }

6
crates/rapier3d-urdf/Cargo.toml
View File

@@ -1,6 +1,6 @@
[package]
name = "rapier3d-urdf"
version = "0.8.0"
version = "0.9.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "URDF file loader for the 3D rapier physics engine."
documentation = "https://docs.rs/rapier3d-urdf"
@@ -31,5 +31,5 @@ anyhow = "1"
bitflags = "2"
urdf-rs = "0.9"
rapier3d = { version = "0.27.0", path = "../rapier3d" }
rapier3d-meshloader = { version = "0.8.0", path = "../rapier3d-meshloader", default-features = false, optional = true }
rapier3d = { version = "0.28.0", path = "../rapier3d" }
rapier3d-meshloader = { version = "0.9.0", path = "../rapier3d-meshloader", default-features = false, optional = true }

6
crates/rapier3d/Cargo.toml
View File

@@ -1,6 +1,6 @@
[package]
name = "rapier3d"
version = "0.27.0"
version = "0.28.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "3-dimensional physics engine in Rust."
documentation = "https://docs.rs/rapier3d"
@@ -73,8 +73,8 @@ required-features = ["dim3", "f32"]
vec_map = { version = "0.8", optional = true }
web-time = { version = "1.1", optional = true }
num-traits = "0.2"
nalgebra = "0.33"
parry3d = "0.22.0"
nalgebra = "0.34"
parry3d = "0.23.0"
simba = "0.9"
approx = "0.5"
rayon = { version = "1", optional = true }

10
crates/rapier_testbed2d-f64/Cargo.toml
View File

@@ -1,6 +1,6 @@
[package]
name = "rapier_testbed2d-f64"
version = "0.27.0"
version = "0.28.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
homepage = "http://rapier.rs"
@@ -43,9 +43,9 @@ unstable-puffin-pr-235 = []
features = ["parallel", "profiler_ui"]
[dependencies]
nalgebra = { version = "0.33", features = ["rand", "glam029"] }
rand = "0.8"
rand_pcg = "0.3"
nalgebra = { version = "0.34", features = ["rand", "glam029"] }
rand = "0.9"
rand_pcg = "0.9"
web-time = { version = "1.1" }
bitflags = "2"
num_cpus = { version = "1", optional = true }
@@ -98,5 +98,5 @@ bevy = { version = "0.15", default-features = false, features = [
[dependencies.rapier]
package = "rapier2d-f64"
path = "../rapier2d-f64"
version = "0.27.0"
version = "0.28.0"
features = ["serde-serialize", "debug-render", "profiler"]

10
crates/rapier_testbed2d/Cargo.toml
View File

@@ -1,6 +1,6 @@
[package]
name = "rapier_testbed2d"
version = "0.27.0"
version = "0.28.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
homepage = "http://rapier.rs"
@@ -43,9 +43,9 @@ unstable-puffin-pr-235 = []
features = ["parallel", "other-backends", "profiler_ui"]
[dependencies]
nalgebra = { version = "0.33", features = ["rand", "glam029"] }
rand = "0.8"
rand_pcg = "0.3"
nalgebra = { version = "0.34", features = ["rand", "glam029"] }
rand = "0.9"
rand_pcg = "0.9"
web-time = { version = "1.1" }
bitflags = "2"
num_cpus = { version = "1", optional = true }
@@ -98,5 +98,5 @@ bevy = { version = "0.15", default-features = false, features = [
[dependencies.rapier]
package = "rapier2d"
path = "../rapier2d"
version = "0.27.0"
version = "0.28.0"
features = ["serde-serialize", "debug-render", "profiler"]

10
crates/rapier_testbed3d-f64/Cargo.toml
View File

@@ -1,6 +1,6 @@
[package]
name = "rapier_testbed3d-f64"
version = "0.27.0"
version = "0.28.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
homepage = "http://rapier.rs"
@@ -45,9 +45,9 @@ unstable-puffin-pr-235 = []
features = ["parallel", "profiler_ui"]
[dependencies]
nalgebra = { version = "0.33", features = ["rand", "glam029"] }
rand = "0.8"
rand_pcg = "0.3"
nalgebra = { version = "0.34", features = ["rand", "glam029"] }
rand = "0.9"
rand_pcg = "0.9"
web-time = { version = "1.1" }
bitflags = "2"
num_cpus = { version = "1", optional = true }
@@ -99,5 +99,5 @@ bevy = { version = "0.15", default-features = false, features = [
[dependencies.rapier]
package = "rapier3d-f64"
path = "../rapier3d-f64"
version = "0.27.0"
version = "0.28.0"
features = ["serde-serialize", "debug-render", "profiler"]

10
crates/rapier_testbed3d/Cargo.toml
View File

@@ -1,6 +1,6 @@
[package]
name = "rapier_testbed3d"
version = "0.27.0"
version = "0.28.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
homepage = "http://rapier.rs"
@@ -43,9 +43,9 @@ unstable-puffin-pr-235 = []
features = ["parallel", "other-backends", "profiler_ui"]
[dependencies]
nalgebra = { version = "0.33", features = ["rand", "glam029"] }
rand = "0.8"
rand_pcg = "0.3"
nalgebra = { version = "0.34", features = ["rand", "glam029"] }
rand = "0.9"
rand_pcg = "0.9"
web-time = { version = "1.1" }
bitflags = "2"
glam = { version = "0.27", optional = true } # For Physx
@@ -97,5 +97,5 @@ bevy = { version = "0.15", default-features = false, features = [
[dependencies.rapier]
package = "rapier3d"
path = "../rapier3d"
version = "0.27.0"
version = "0.28.0"
features = ["serde-serialize", "debug-render", "profiler"]

2
examples2d/Cargo.toml
View File

@@ -13,7 +13,7 @@ other-backends = ["rapier_testbed2d/other-backends"]
enhanced-determinism = ["rapier2d/enhanced-determinism"]
[dependencies]
rand = "0.8"
rand = "0.9"
lyon = "0.17"
usvg = "0.14"
dot_vox = "5"

4
examples2d/convex_polygons2.rs
View File

@@ -1,4 +1,4 @@
use rand::distributions::{Distribution, Standard};
use rand::distr::{Distribution, StandardUniform};
use rand::{SeedableRng, rngs::StdRng};
use rapier_testbed2d::Testbed;
use rapier2d::prelude::*;
@@ -48,7 +48,7 @@ pub fn init_world(testbed: &mut Testbed) {
let centery = shift / 2.0;
let mut rng = StdRng::seed_from_u64(0);
let distribution = Standard;
let distribution = StandardUniform;
for i in 0..num {
for j in 0usize..num * 4 {

5
examples2d/debug_intersection2.rs
View File

@@ -42,10 +42,7 @@ pub fn init_world(testbed: &mut Testbed) {
testbed.add_callback(move |mut graphics, physics, _, run| {
let slow_time = run.timestep_id as f32 / 3.0;
let Some(broad_phase) = physics.broad_phase.downcast_ref::<BroadPhaseBvh>() else {
return;
};
let query_pipeline = broad_phase.as_query_pipeline(
let query_pipeline = physics.broad_phase.as_query_pipeline(
physics.narrow_phase.query_dispatcher(),
&physics.bodies,
&physics.colliders,

5
examples2d/utils/character.rs
View File

@@ -137,10 +137,7 @@ fn update_kinematic_controller(
let character_shape = character_collider.shared_shape().clone();
let character_mass = character_body.mass();
let Some(broad_phase) = phx.broad_phase.downcast_ref::<BroadPhaseBvh>() else {
return;
};
let mut query_pipeline = broad_phase.as_query_pipeline_mut(
let mut query_pipeline = phx.broad_phase.as_query_pipeline_mut(
phx.narrow_phase.query_dispatcher(),
&mut phx.bodies,
&mut phx.colliders,

2
examples3d-f64/Cargo.toml
View File

@@ -12,7 +12,7 @@ simd-nightly = ["rapier3d-f64/simd-nightly"]
enhanced-determinism = ["rapier3d-f64/enhanced-determinism"]
[dependencies]
rand = "0.8"
rand = "0.9"
getrandom = { version = "0.2", features = ["js"] }
wasm-bindgen = "0.2"
obj-rs = { version = "0.7", default-features = false }

2
examples3d-f64/debug_serialized3.rs
View File

@@ -27,7 +27,7 @@ pub fn init_world(testbed: &mut Testbed) {
state.multibody_joints,
);
testbed.harness_mut().physics.islands = state.islands;
testbed.harness_mut().physics.broad_phase = Box::new(state.broad_phase);
testbed.harness_mut().physics.broad_phase = state.broad_phase;
testbed.harness_mut().physics.narrow_phase = state.narrow_phase;
testbed.harness_mut().physics.ccd_solver = state.ccd_solver;

2
examples3d/Cargo.toml
View File

@@ -13,7 +13,7 @@ other-backends = ["rapier_testbed3d/other-backends"]
enhanced-determinism = ["rapier3d/enhanced-determinism"]
[dependencies]
rand = "0.8"
rand = "0.9"
getrandom = { version = "0.2", features = ["js"] }
wasm-bindgen = "0.2"
obj-rs = { version = "0.7", default-features = false }

2
examples3d/all_examples3.rs
View File

@@ -17,6 +17,7 @@ mod convex_polyhedron3;
mod damping3;
mod debug_add_remove_collider3;
mod debug_articulations3;
mod debug_balls3;
mod debug_big_colliders3;
mod debug_boxes3;
mod debug_cylinder3;
@@ -101,6 +102,7 @@ pub fn main() {
),
("(Debug) big colliders", debug_big_colliders3::init_world),
("(Debug) boxes", debug_boxes3::init_world),
("(Debug) balls", debug_balls3::init_world),
("(Debug) pop", debug_pop3::init_world),
(
"(Debug) dyn. coll. add",

4
examples3d/convex_polyhedron3.rs
View File

@@ -1,4 +1,4 @@
use rand::distributions::{Distribution, Standard};
use rand::distr::{Distribution, StandardUniform};
use rand::{SeedableRng, rngs::StdRng};
use rapier_testbed3d::Testbed;
use rapier3d::prelude::*;
@@ -36,7 +36,7 @@ pub fn init_world(testbed: &mut Testbed) {
let centerz = shift * (num / 2) as f32;
let mut rng = StdRng::seed_from_u64(0);
let distribution = Standard;
let distribution = StandardUniform;
for j in 0usize..25 {
for i in 0..num {

59
examples3d/debug_balls3.rs Normal file
View File

@@ -0,0 +1,59 @@
use rapier_testbed3d::Testbed;
use rapier3d::prelude::*;
pub fn init_world(testbed: &mut Testbed) {
/*
* World
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
/*
* Create the balls
*/
let num_j = 10;
let num_ik = 10;
let rad = 0.5;
let shift = rad * 2.0;
let centerx = shift * (num_ik as f32) / 2.0;
let centery = shift / 2.0;
let centerz = shift * (num_ik as f32) / 2.0;
for i in 0..num_ik {
for j in 0usize..num_j {
for k in 0..num_ik {
let x = i as f32 * shift - centerx;
let z = k as f32 * shift - centerz;
let status = if j == 0 || i == 0 || k == 0 || i == num_ik - 1 || k == num_ik - 1 {
RigidBodyType::Fixed
} else {
RigidBodyType::Dynamic
};
let y = if status.is_fixed() {
j as f32 * shift + centery
} else {
j as f32 * shift * 2.0 + centery
};
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![x, y, z])
.can_sleep(false);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).friction(0.0);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
}
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

2
examples3d/debug_deserialize3.rs
View File

@@ -54,7 +54,7 @@ pub fn init_world(testbed: &mut Testbed) {
);
testbed.harness_mut().physics.islands = state.islands;
testbed.harness_mut().physics.broad_phase = Box::new(state.broad_phase);
testbed.harness_mut().physics.broad_phase = state.broad_phase;
testbed.harness_mut().physics.narrow_phase = state.narrow_phase;
testbed.harness_mut().physics.integration_parameters = state.integration_parameters;
testbed.harness_mut().physics.gravity = state.gravity;

5
examples3d/utils/character.rs
View File

@@ -147,10 +147,7 @@ fn update_kinematic_controller(
let character_shape = character_collider.shared_shape().clone();
let character_mass = character_body.mass();
let Some(broad_phase) = phx.broad_phase.downcast_ref::<BroadPhaseBvh>() else {
return;
};
let mut query_pipeline = broad_phase.as_query_pipeline_mut(
let mut query_pipeline = phx.broad_phase.as_query_pipeline_mut(
phx.narrow_phase.query_dispatcher(),
&mut phx.bodies,
&mut phx.colliders,

5
examples3d/voxels3.rs
View File

@@ -211,10 +211,7 @@ pub fn init_world(testbed: &mut Testbed) {
predicate: Some(&|_, co: &Collider| co.shape().as_voxels().is_some()),
..Default::default()
};
let Some(broad_phase) = physics.broad_phase.downcast_ref::<BroadPhaseBvh>() else {
return;
};
let query_pipeline = broad_phase.as_query_pipeline(
let query_pipeline = physics.broad_phase.as_query_pipeline(
physics.narrow_phase.query_dispatcher(),
&physics.bodies,
&physics.colliders,

8
publish-all.sh
View File

@@ -3,12 +3,12 @@
if [[ "$PUBLISH_MODE" == 1 ]]
then
./scripts/publish-rapier.sh &&
./scripts/publish-testbeds.sh &&
./scripts/publish-extra-formats.sh
./scripts/publish-extra-formats.sh &&
./scripts/publish-testbeds.sh
else
echo "Running in dry mode, re-run with \`PUBLISH_MODE=1 publish-all.sh\` to actually publish."
DRY_RUN="--dry-run" ./scripts/publish-rapier.sh &&
DRY_RUN="--dry-run" ./scripts/publish-testbeds.sh &&
DRY_RUN="--dry-run" ./scripts/publish-extra-formats.sh
DRY_RUN="--dry-run" ./scripts/publish-extra-formats.sh &&
DRY_RUN="--dry-run" ./scripts/publish-testbeds.sh
fi

96
src/dynamics/ccd/ccd_solver.rs
View File

@@ -1,11 +1,10 @@
use super::TOIEntry;
use crate::dynamics::{IslandManager, RigidBodyHandle, RigidBodySet};
use crate::geometry::{ColliderParent, ColliderSet, CollisionEvent, NarrowPhase};
use crate::dynamics::{IntegrationParameters, IslandManager, RigidBodyHandle, RigidBodySet};
use crate::geometry::{BroadPhaseBvh, ColliderParent, ColliderSet, CollisionEvent, NarrowPhase};
use crate::math::Real;
use crate::parry::utils::SortedPair;
use crate::pipeline::{EventHandler, QueryFilter, QueryPipeline};
use crate::pipeline::{EventHandler, QueryFilter};
use crate::prelude::{ActiveEvents, CollisionEventFlags};
use parry::partitioning::{Bvh, BvhBuildStrategy};
use parry::utils::hashmap::HashMap;
use std::collections::BinaryHeap;
@@ -16,26 +15,14 @@ pub enum PredictedImpacts {
}
/// Solver responsible for performing motion-clamping on fast-moving bodies.
#[derive(Clone)]
#[derive(Clone, Default)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
pub struct CCDSolver {
// TODO PERF: for now the CCD solver maintains its own bvh for CCD queries.
// At each frame it get rebuilt.
// We should consider an alternative to directly use the broad-phase’s.
#[cfg_attr(feature = "serde-serialize", serde(skip))]
bvh: Bvh,
}
impl Default for CCDSolver {
fn default() -> Self {
Self::new()
}
}
pub struct CCDSolver;
impl CCDSolver {
/// Initializes a new CCD solver
pub fn new() -> Self {
Self { bvh: Bvh::new() }
Self
}
/// Apply motion-clamping to the bodies affected by the given `impacts`.
@@ -101,42 +88,35 @@ impl CCDSolver {
#[profiling::function]
pub fn find_first_impact(
&mut self,
dt: Real,
dt: Real, // NOTE: this doesn’t necessarily match the `params.dt`.
params: &IntegrationParameters,
islands: &IslandManager,
bodies: &RigidBodySet,
colliders: &ColliderSet,
broad_phase: &mut BroadPhaseBvh,
narrow_phase: &NarrowPhase,
) -> Option<Real> {
// Update the query pipeline with the colliders’ predicted positions.
self.bvh = Bvh::from_iter(
BvhBuildStrategy::Binned,
colliders.iter_enabled().map(|(co_handle, co)| {
let id = co_handle.into_raw_parts().0;
if let Some(co_parent) = co.parent {
let rb = &bodies[co_parent.handle];
for (handle, co) in colliders.iter_enabled() {
if let Some(co_parent) = co.parent {
let rb = &bodies[co_parent.handle];
if rb.is_ccd_active() {
let predicted_pos = rb
.pos
.integrate_forces_and_velocities(dt, &rb.forces, &rb.vels, &rb.mprops);
let next_position = predicted_pos * co_parent.pos_wrt_parent;
(
id as usize,
co.shape.compute_swept_aabb(&co.pos, &next_position),
)
} else {
(id as usize, co.shape.compute_aabb(&co.pos))
let swept_aabb = co.shape.compute_swept_aabb(&co.pos, &next_position);
broad_phase.set_aabb(params, handle, swept_aabb);
}
}),
);
}
}
let query_pipeline = QueryPipeline {
// NOTE: the upcast needs at least rust 1.86
dispatcher: narrow_phase.query_dispatcher(),
bvh: &self.bvh,
let query_pipeline = broad_phase.as_query_pipeline(
narrow_phase.query_dispatcher(),
bodies,
colliders,
filter: QueryFilter::default(),
};
QueryFilter::default(),
);
let mut pairs_seen = HashMap::default();
let mut min_toi = dt;
@@ -234,43 +214,39 @@ impl CCDSolver {
#[profiling::function]
pub fn predict_impacts_at_next_positions(
&mut self,
dt: Real,
params: &IntegrationParameters,
islands: &IslandManager,
bodies: &RigidBodySet,
colliders: &ColliderSet,
broad_phase: &mut BroadPhaseBvh,
narrow_phase: &NarrowPhase,
events: &dyn EventHandler,
) -> PredictedImpacts {
let dt = params.dt;
let mut frozen = HashMap::<_, Real>::default();
let mut all_toi = BinaryHeap::new();
let mut pairs_seen = HashMap::default();
let mut min_overstep = dt;
// Update the query pipeline with the colliders’ `next_position`.
self.bvh = Bvh::from_iter(
BvhBuildStrategy::Binned,
colliders.iter_enabled().map(|(co_handle, co)| {
let id = co_handle.into_raw_parts().0;
if let Some(co_parent) = co.parent {
for (handle, co) in colliders.iter_enabled() {
if let Some(co_parent) = co.parent {
let rb = &bodies[co_parent.handle];
if rb.is_ccd_active() {
let rb_next_pos = &bodies[co_parent.handle].pos.next_position;
let next_position = rb_next_pos * co_parent.pos_wrt_parent;
(
id as usize,
co.shape.compute_swept_aabb(&co.pos, &next_position),
)
} else {
(id as usize, co.shape.compute_aabb(&co.pos))
let swept_aabb = co.shape.compute_swept_aabb(&co.pos, &next_position);
broad_phase.set_aabb(params, handle, swept_aabb);
}
}),
);
}
}
let query_pipeline = QueryPipeline {
dispatcher: narrow_phase.query_dispatcher(),
bvh: &self.bvh,
let query_pipeline = broad_phase.as_query_pipeline(
narrow_phase.query_dispatcher(),
bodies,
colliders,
filter: QueryFilter::default(),
};
QueryFilter::default(),
);
/*
*

48
src/geometry/broad_phase.rs
View File

@@ -1,48 +0,0 @@
use crate::dynamics::RigidBodySet;
use crate::geometry::{BroadPhasePairEvent, ColliderHandle, ColliderSet};
use crate::prelude::IntegrationParameters;
use downcast_rs::DowncastSync;
/// Trait implemented by broad-phase algorithms supported by Rapier.
///
/// The task of a broad-phase algorithm is to detect potential collision pairs, usually based on
/// bounding volumes. The pairs must be conservative: it is OK to create a collision pair if
/// two objects don’t actually touch, but it is incorrect to remove a pair between two objects
/// that are still touching. In other words, it can have false-positive (though these induce
/// some computational overhead on the narrow-phase), but cannot have false-negative.
pub trait BroadPhase: Send + Sync + 'static + DowncastSync {
/// Updates the broad-phase.
///
/// The results must be output through the `events` struct. The broad-phase algorithm is only
/// required to generate new events (i.e. no need to re-send an `AddPair` event if it was already
/// sent previously and no `RemovePair` happened since then). Sending redundant events is allowed
/// but can result in a slight computational overhead.
///
/// The `colliders` set is mutable only to provide access to
/// [`collider.set_internal_broad_phase_proxy_index`]. Other properties of the collider should
/// **not** be modified during the broad-phase update.
///
/// # Parameters
/// - `params`: the integration parameters governing the simulation.
/// - `colliders`: the set of colliders. Change detection with `collider.needs_broad_phase_update()`
/// can be relied on at this stage.
/// - `modified_colliders`: colliders that are know to be modified since the last update.
/// - `removed_colliders`: colliders that got removed since the last update. Any associated data
/// in the broad-phase should be removed by this call to `update`.
/// - `events`: the broad-phase’s output. They indicate what collision pairs need to be created
/// and what pairs need to be removed. It is OK to create pairs for colliders that don’t
/// actually collide (though this can increase computational overhead in the narrow-phase)
/// but it is important not to indicate removal of a collision pair if the underlying colliders
/// are still touching or closer than `prediction_distance`.
fn update(
&mut self,
params: &IntegrationParameters,
colliders: &ColliderSet,
bodies: &RigidBodySet,
modified_colliders: &[ColliderHandle],
removed_colliders: &[ColliderHandle],
events: &mut Vec<BroadPhasePairEvent>,
);
}
downcast_rs::impl_downcast!(sync BroadPhase);

105
src/geometry/broad_phase_bvh.rs
View File

@@ -1,6 +1,6 @@
use crate::dynamics::{IntegrationParameters, RigidBodySet};
use crate::geometry::{BroadPhase, BroadPhasePairEvent, ColliderHandle, ColliderPair, ColliderSet};
use parry::bounding_volume::BoundingVolume;
use crate::geometry::{Aabb, BroadPhasePairEvent, ColliderHandle, ColliderPair, ColliderSet};
use crate::math::Real;
use parry::partitioning::{Bvh, BvhWorkspace};
use parry::utils::hashmap::{Entry, HashMap};
@@ -36,6 +36,9 @@ pub enum BvhOptimizationStrategy {
const ENABLE_TREE_VALIDITY_CHECK: bool = false;
impl BroadPhaseBvh {
const CHANGE_DETECTION_ENABLED: bool = true;
const CHANGE_DETECTION_FACTOR: Real = 1.0e-2;
/// Initializes a new empty broad-phase.
pub fn new() -> Self {
Self::default()
@@ -50,7 +53,30 @@ impl BroadPhaseBvh {
}
}
fn update_with_strategy(
/// Updates the broad-phase.
///
/// The results are output through the `events` struct. The broad-phase algorithm is only
/// required to generate new events (i.e. no need to re-send an `AddPair` event if it was already
/// sent previously and no `RemovePair` happened since then). Sending redundant events is allowed
/// but can result in a slight computational overhead.
///
/// The `colliders` set is mutable only to provide access to
/// [`collider.set_internal_broad_phase_proxy_index`]. Other properties of the collider should
/// **not** be modified during the broad-phase update.
///
/// # Parameters
/// - `params`: the integration parameters governing the simulation.
/// - `colliders`: the set of colliders. Change detection with `collider.needs_broad_phase_update()`
/// can be relied on at this stage.
/// - `modified_colliders`: colliders that are know to be modified since the last update.
/// - `removed_colliders`: colliders that got removed since the last update. Any associated data
/// in the broad-phase should be removed by this call to `update`.
/// - `events`: the broad-phase’s output. They indicate what collision pairs need to be created
/// and what pairs need to be removed. It is OK to create pairs for colliders that don’t
/// actually collide (though this can increase computational overhead in the narrow-phase)
/// but it is important not to indicate removal of a collision pair if the underlying colliders
/// are still touching or closer than `prediction_distance`.
pub fn update(
&mut self,
params: &IntegrationParameters,
colliders: &ColliderSet,
@@ -58,10 +84,7 @@ impl BroadPhaseBvh {
modified_colliders: &[ColliderHandle],
removed_colliders: &[ColliderHandle],
events: &mut Vec<BroadPhasePairEvent>,
strategy: BvhOptimizationStrategy,
) {
const CHANGE_DETECTION_ENABLED: bool = true;
self.frame_index = self.frame_index.overflowing_add(1).0;
// Removals must be handled first, in case another collider in
@@ -70,9 +93,9 @@ impl BroadPhaseBvh {
self.tree.remove(handle.into_raw_parts().0);
}
if modified_colliders.is_empty() {
return;
}
// if modified_colliders.is_empty() {
// return;
// }
let first_pass = self.tree.is_empty();
@@ -83,29 +106,10 @@ impl BroadPhaseBvh {
continue;
}
// Take soft-ccd into account by growing the aabb.
let next_pose = collider.parent.and_then(|p| {
let parent = bodies.get(p.handle)?;
(parent.soft_ccd_prediction() > 0.0).then(|| {
parent.predict_position_using_velocity_and_forces_with_max_dist(
params.dt,
parent.soft_ccd_prediction(),
) * p.pos_wrt_parent
})
});
let aabb = collider.compute_broad_phase_aabb(params, bodies);
let prediction_distance = params.prediction_distance();
let mut aabb = collider.compute_collision_aabb(prediction_distance / 2.0);
if let Some(next_pose) = next_pose {
let next_aabb = collider
.shape
.compute_aabb(&next_pose)
.loosened(collider.contact_skin() + prediction_distance / 2.0);
aabb.merge(&next_aabb);
}
let change_detection_skin = if CHANGE_DETECTION_ENABLED {
1.0e-2 * params.length_unit
let change_detection_skin = if Self::CHANGE_DETECTION_ENABLED {
Self::CHANGE_DETECTION_FACTOR * params.length_unit
} else {
0.0
};
@@ -127,7 +131,7 @@ impl BroadPhaseBvh {
}
// let t0 = std::time::Instant::now();
match strategy {
match self.optimization_strategy {
BvhOptimizationStrategy::SubtreeOptimizer => {
self.tree.optimize_incremental(&mut self.workspace);
}
@@ -190,7 +194,7 @@ impl BroadPhaseBvh {
// let t0 = std::time::Instant::now();
self.tree
.traverse_bvtt_single_tree::<CHANGE_DETECTION_ENABLED>(
.traverse_bvtt_single_tree::<{ Self::CHANGE_DETECTION_ENABLED }>(
&mut self.workspace,
&mut pairs_collector,
);
@@ -220,7 +224,7 @@ impl BroadPhaseBvh {
return false;
};
if (!CHANGE_DETECTION_ENABLED || node0.is_changed() || node1.is_changed())
if (!Self::CHANGE_DETECTION_ENABLED || node0.is_changed() || node1.is_changed())
&& !node0.intersects(node1)
{
events.push(BroadPhasePairEvent::DeletePair(ColliderPair::new(*h0, *h1)));
@@ -245,26 +249,21 @@ impl BroadPhaseBvh {
// removed_pairs
// );
}
}
impl BroadPhase for BroadPhaseBvh {
fn update(
&mut self,
params: &IntegrationParameters,
colliders: &ColliderSet,
bodies: &RigidBodySet,
modified_colliders: &[ColliderHandle],
removed_colliders: &[ColliderHandle],
events: &mut Vec<BroadPhasePairEvent>,
) {
self.update_with_strategy(
params,
colliders,
bodies,
modified_colliders,
removed_colliders,
events,
self.optimization_strategy,
/// Sets the AABB associated to the given collider.
///
/// The AABB change will be immediately applied and propagated through the underlying BVH.
/// Change detection will automatically take it into account during the next broad-phase update.
pub fn set_aabb(&mut self, params: &IntegrationParameters, handle: ColliderHandle, aabb: Aabb) {
let change_detection_skin = if Self::CHANGE_DETECTION_ENABLED {
Self::CHANGE_DETECTION_FACTOR * params.length_unit
} else {
0.0
};
self.tree.insert_with_change_detection(
aabb,
handle.into_raw_parts().0,
change_detection_skin,
);
}
}

38
src/geometry/collider.rs
View File

@@ -1,4 +1,4 @@
use crate::dynamics::{CoefficientCombineRule, MassProperties, RigidBodyHandle};
use crate::dynamics::{CoefficientCombineRule, MassProperties, RigidBodyHandle, RigidBodySet};
#[cfg(feature = "dim3")]
use crate::geometry::HeightFieldFlags;
use crate::geometry::{
@@ -9,7 +9,7 @@ use crate::geometry::{
use crate::math::{AngVector, DIM, Isometry, Point, Real, Rotation, Vector};
use crate::parry::transformation::vhacd::VHACDParameters;
use crate::pipeline::{ActiveEvents, ActiveHooks};
use crate::prelude::ColliderEnabled;
use crate::prelude::{ColliderEnabled, IntegrationParameters};
use na::Unit;
use parry::bounding_volume::{Aabb, BoundingVolume};
use parry::shape::{Shape, TriMeshBuilderError, TriMeshFlags};
@@ -457,6 +457,40 @@ impl Collider {
self.shape.compute_swept_aabb(&self.pos, next_position)
}
// TODO: we have a lot of different AABB computation functions
// We should group them somehow.
/// Computes the collider’s AABB for usage in a broad-phase.
///
/// It takes into account soft-ccd, the contact skin, and the contact prediction.
pub fn compute_broad_phase_aabb(
&self,
params: &IntegrationParameters,
bodies: &RigidBodySet,
) -> Aabb {
// Take soft-ccd into account by growing the aabb.
let next_pose = self.parent.and_then(|p| {
let parent = bodies.get(p.handle)?;
(parent.soft_ccd_prediction() > 0.0).then(|| {
parent.predict_position_using_velocity_and_forces_with_max_dist(
params.dt,
parent.soft_ccd_prediction(),
) * p.pos_wrt_parent
})
});
let prediction_distance = params.prediction_distance();
let mut aabb = self.compute_collision_aabb(prediction_distance / 2.0);
if let Some(next_pose) = next_pose {
let next_aabb = self
.shape
.compute_aabb(&next_pose)
.loosened(self.contact_skin() + prediction_distance / 2.0);
aabb.merge(&next_aabb);
}
aabb
}
/// Compute the local-space mass properties of this collider.
pub fn mass_properties(&self) -> MassProperties {
self.mprops.mass_properties(&*self.shape)

4
src/geometry/collider_set.rs
View File

@@ -53,6 +53,10 @@ impl ColliderSet {
std::mem::take(&mut self.modified_colliders)
}
pub(crate) fn set_modified(&mut self, modified: ModifiedColliders) {
self.modified_colliders = modified;
}
pub(crate) fn take_removed(&mut self) -> Vec<ColliderHandle> {
std::mem::take(&mut self.removed_colliders)
}

2
src/geometry/mod.rs
View File

@@ -1,6 +1,5 @@
//! Structures related to geometry: colliders, shapes, etc.
pub use self::broad_phase::BroadPhase;
pub use self::broad_phase_bvh::{BroadPhaseBvh, BvhOptimizationStrategy};
pub use self::broad_phase_pair_event::{BroadPhasePairEvent, ColliderPair};
pub use self::collider::{Collider, ColliderBuilder};
@@ -199,7 +198,6 @@ mod interaction_graph;
mod interaction_groups;
mod narrow_phase;
mod broad_phase;
mod broad_phase_bvh;
mod broad_phase_pair_event;
mod collider;

10
src/geometry/narrow_phase.rs
View File

@@ -697,14 +697,9 @@ impl NarrowPhase {
&mut self,
bodies: &RigidBodySet,
colliders: &ColliderSet,
modified_colliders: &[ColliderHandle],
hooks: &dyn PhysicsHooks,
events: &dyn EventHandler,
) {
if modified_colliders.is_empty() {
return;
}
let nodes = &self.intersection_graph.graph.nodes;
let query_dispatcher = &*self.query_dispatcher;
@@ -806,14 +801,9 @@ impl NarrowPhase {
colliders: &ColliderSet,
impulse_joints: &ImpulseJointSet,
multibody_joints: &MultibodyJointSet,
modified_colliders: &[ColliderHandle],
hooks: &dyn PhysicsHooks,
events: &dyn EventHandler,
) {
if modified_colliders.is_empty() {
return;
}
let query_dispatcher = &*self.query_dispatcher;
// TODO: don't iterate on all the edges.

9
src/pipeline/collision_pipeline.rs
View File

@@ -2,7 +2,7 @@
use crate::dynamics::{ImpulseJointSet, IntegrationParameters, MultibodyJointSet};
use crate::geometry::{
BroadPhase, BroadPhasePairEvent, ColliderChanges, ColliderHandle, ColliderPair,
BroadPhaseBvh, BroadPhasePairEvent, ColliderChanges, ColliderHandle, ColliderPair,
ModifiedColliders, NarrowPhase,
};
use crate::math::Real;
@@ -44,7 +44,7 @@ impl CollisionPipeline {
fn detect_collisions(
&mut self,
prediction_distance: Real,
broad_phase: &mut dyn BroadPhase,
broad_phase: &mut BroadPhaseBvh,
narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
@@ -93,11 +93,10 @@ impl CollisionPipeline {
colliders,
&ImpulseJointSet::new(),
&MultibodyJointSet::new(),
modified_colliders,
hooks,
events,
);
narrow_phase.compute_intersections(bodies, colliders, modified_colliders, hooks, events);
narrow_phase.compute_intersections(bodies, colliders, hooks, events);
}
fn clear_modified_colliders(
@@ -118,7 +117,7 @@ impl CollisionPipeline {
pub fn step(
&mut self,
prediction_distance: Real,
broad_phase: &mut dyn BroadPhase,
broad_phase: &mut BroadPhaseBvh,
narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,

74
src/pipeline/physics_pipeline.rs
View File

@@ -10,7 +10,7 @@ use crate::dynamics::{
RigidBodyChanges, RigidBodyPosition, RigidBodyType,
};
use crate::geometry::{
BroadPhase, BroadPhasePairEvent, ColliderChanges, ColliderHandle, ColliderPair,
BroadPhaseBvh, BroadPhasePairEvent, ColliderChanges, ColliderHandle, ColliderPair,
ContactManifoldIndex, ModifiedColliders, NarrowPhase, TemporaryInteractionIndex,
};
use crate::math::{Real, Vector};
@@ -71,11 +71,14 @@ impl PhysicsPipeline {
colliders: &mut ColliderSet,
modified_colliders: &mut ModifiedColliders,
) {
for handle in modified_colliders.iter() {
if let Some(co) = colliders.get_mut_internal(*handle) {
co.changes = ColliderChanges::empty();
}
for co in colliders.colliders.iter_mut() {
co.1.changes = ColliderChanges::empty();
}
// for handle in modified_colliders.iter() {
// if let Some(co) = colliders.get_mut_internal(*handle) {
// co.changes = ColliderChanges::empty();
// }
// }
modified_colliders.clear();
}
@@ -98,7 +101,7 @@ impl PhysicsPipeline {
&mut self,
integration_parameters: &IntegrationParameters,
islands: &mut IslandManager,
broad_phase: &mut dyn BroadPhase,
broad_phase: &mut BroadPhaseBvh,
narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
@@ -153,11 +156,10 @@ impl PhysicsPipeline {
colliders,
impulse_joints,
multibody_joints,
modified_colliders,
hooks,
events,
);
narrow_phase.compute_intersections(bodies, colliders, modified_colliders, hooks, events);
narrow_phase.compute_intersections(bodies, colliders, hooks, events);
self.counters.cd.narrow_phase_time.pause();
self.counters.stages.collision_detection_time.pause();
@@ -340,6 +342,7 @@ impl PhysicsPipeline {
islands: &IslandManager,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
broad_phase: &mut BroadPhaseBvh,
narrow_phase: &NarrowPhase,
ccd_solver: &mut CCDSolver,
events: &dyn EventHandler,
@@ -347,10 +350,11 @@ impl PhysicsPipeline {
self.counters.ccd.toi_computation_time.start();
// Handle CCD
let impacts = ccd_solver.predict_impacts_at_next_positions(
integration_parameters.dt,
integration_parameters,
islands,
bodies,
colliders,
broad_phase,
narrow_phase,
events,
);
@@ -414,7 +418,7 @@ impl PhysicsPipeline {
gravity: &Vector<Real>,
integration_parameters: &IntegrationParameters,
islands: &mut IslandManager,
broad_phase: &mut dyn BroadPhase,
broad_phase: &mut BroadPhaseBvh,
narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
@@ -535,9 +539,11 @@ impl PhysicsPipeline {
let first_impact = if ccd_active {
ccd_solver.find_first_impact(
remaining_time,
&integration_parameters,
islands,
bodies,
colliders,
broad_phase,
narrow_phase,
)
} else {
@@ -605,6 +611,7 @@ impl PhysicsPipeline {
islands,
bodies,
colliders,
broad_phase,
narrow_phase,
ccd_solver,
events,
@@ -616,23 +623,35 @@ impl PhysicsPipeline {
self.advance_to_final_positions(islands, bodies, colliders, &mut modified_colliders);
self.counters.stages.update_time.pause();
self.detect_collisions(
&integration_parameters,
islands,
broad_phase,
narrow_phase,
bodies,
colliders,
impulse_joints,
multibody_joints,
&modified_colliders,
&[],
hooks,
events,
false,
);
if remaining_substeps > 0 {
self.detect_collisions(
&integration_parameters,
islands,
broad_phase,
narrow_phase,
bodies,
colliders,
impulse_joints,
multibody_joints,
&modified_colliders,
&[],
hooks,
events,
false,
);
self.clear_modified_colliders(colliders, &mut modified_colliders);
self.clear_modified_colliders(colliders, &mut modified_colliders);
} else {
// If we ran the last substep, just update the broad-phase bvh instead
// of a full collision-detection step.
for handle in modified_colliders.iter() {
let co = &colliders[*handle];
let aabb = co.compute_broad_phase_aabb(&integration_parameters, bodies);
broad_phase.set_aabb(&integration_parameters, *handle, aabb);
}
modified_colliders.clear();
// self.clear_modified_colliders(colliders, &mut modified_colliders);
}
}
// Finally, make sure we update the world mass-properties of the rigid-bodies
@@ -648,6 +667,9 @@ impl PhysicsPipeline {
}
self.counters.stages.update_time.pause();
// Re-insert the modified vector we extracted for the borrow-checker.
colliders.set_modified(modified_colliders);
self.counters.step_completed();
}
}

8
src_testbed/graphics.rs
View File

@@ -14,7 +14,6 @@ use rapier::math::{Isometry, Real, Vector};
//use crate::objects::polyline::Polyline;
// use crate::objects::mesh::Mesh;
use crate::testbed::TestbedStateFlags;
use rand::{Rng, SeedableRng};
use rand_pcg::Pcg32;
use std::collections::HashMap;
@@ -97,7 +96,7 @@ pub struct GraphicsManager {
impl GraphicsManager {
pub fn new() -> GraphicsManager {
GraphicsManager {
rand: Pcg32::seed_from_u64(0),
rand: Pcg32::new(0, 1),
b2sn: HashMap::new(),
b2color: HashMap::new(),
c2color: HashMap::new(),
@@ -128,7 +127,7 @@ impl GraphicsManager {
self.c2color.clear();
self.b2color.clear();
self.b2wireframe.clear();
self.rand = Pcg32::seed_from_u64(0);
self.rand = Pcg32::new(0, 1);
}
pub fn remove_collider_nodes(
@@ -236,7 +235,8 @@ impl GraphicsManager {
}
fn gen_color(rng: &mut Pcg32) -> Point3<f32> {
let mut color: Point3<f32> = rng.r#gen();
use rand::Rng;
let mut color: Point3<f32> = rng.random();
// Quantize the colors a bit to get some amount of auto-instancing from bevy.
color.x = (color.x * 5.0).round() / 5.0;

20
src_testbed/harness/mod.rs
View File

@@ -9,9 +9,7 @@ use rapier::dynamics::{
CCDSolver, ImpulseJointSet, IntegrationParameters, IslandManager, MultibodyJointSet,
RigidBodySet,
};
use rapier::geometry::{
BroadPhase, BroadPhaseBvh, BvhOptimizationStrategy, ColliderSet, NarrowPhase,
};
use rapier::geometry::{BroadPhaseBvh, BvhOptimizationStrategy, ColliderSet, NarrowPhase};
use rapier::math::{Real, Vector};
use rapier::pipeline::{ChannelEventCollector, PhysicsHooks, PhysicsPipeline};
@@ -25,16 +23,14 @@ pub enum RapierBroadPhaseType {
}
impl RapierBroadPhaseType {
pub fn init_broad_phase(self) -> Box<dyn BroadPhase> {
pub fn init_broad_phase(self) -> BroadPhaseBvh {
match self {
RapierBroadPhaseType::BvhSubtreeOptimizer => {
Box::new(BroadPhaseBvh::with_optimization_strategy(
BvhOptimizationStrategy::SubtreeOptimizer,
))
BroadPhaseBvh::with_optimization_strategy(BvhOptimizationStrategy::SubtreeOptimizer)
}
RapierBroadPhaseType::BvhWithoutOptimization => {
BroadPhaseBvh::with_optimization_strategy(BvhOptimizationStrategy::None)
}
RapierBroadPhaseType::BvhWithoutOptimization => Box::new(
BroadPhaseBvh::with_optimization_strategy(BvhOptimizationStrategy::None),
),
}
}
}
@@ -250,7 +246,7 @@ impl Harness {
&physics.gravity,
&physics.integration_parameters,
&mut physics.islands,
&mut *physics.broad_phase,
&mut physics.broad_phase,
&mut physics.narrow_phase,
&mut physics.bodies,
&mut physics.colliders,
@@ -268,7 +264,7 @@ impl Harness {
&self.physics.gravity,
&self.physics.integration_parameters,
&mut self.physics.islands,
&mut *self.physics.broad_phase,
&mut self.physics.broad_phase,
&mut self.physics.narrow_phase,
&mut self.physics.bodies,
&mut self.physics.colliders,

6
src_testbed/physics/mod.rs
View File

@@ -3,7 +3,7 @@ use rapier::dynamics::{
RigidBodySet,
};
use rapier::geometry::{
BroadPhase, ColliderSet, CollisionEvent, ContactForceEvent, DefaultBroadPhase, NarrowPhase,
BroadPhaseBvh, ColliderSet, CollisionEvent, ContactForceEvent, DefaultBroadPhase, NarrowPhase,
};
use rapier::math::{Real, Vector};
use rapier::pipeline::{PhysicsHooks, PhysicsPipeline};
@@ -89,7 +89,7 @@ impl PhysicsSnapshot {
pub struct PhysicsState {
pub islands: IslandManager,
pub broad_phase: Box<dyn BroadPhase>,
pub broad_phase: BroadPhaseBvh,
pub narrow_phase: NarrowPhase,
pub bodies: RigidBodySet,
pub colliders: ColliderSet,
@@ -112,7 +112,7 @@ impl PhysicsState {
pub fn new() -> Self {
Self {
islands: IslandManager::new(),
broad_phase: Box::new(DefaultBroadPhase::default()),
broad_phase: DefaultBroadPhase::default(),
narrow_phase: NarrowPhase::new(),
bodies: RigidBodySet::new(),
colliders: ColliderSet::new(),

41
src_testbed/testbed.rs
View File

@@ -23,7 +23,7 @@ use rapier::dynamics::{
RigidBodyHandle, RigidBodySet,
};
#[cfg(feature = "dim3")]
use rapier::geometry::{BroadPhaseBvh, Ray};
use rapier::geometry::Ray;
use rapier::geometry::{ColliderHandle, ColliderSet, NarrowPhase};
use rapier::math::{Real, Vector};
use rapier::pipeline::PhysicsHooks;
@@ -814,21 +814,12 @@ impl Testbed<'_, '_, '_, '_, '_, '_, '_, '_, '_, '_, '_, '_, '_> {
wheels[1].engine_force = engine_force;
wheels[1].steering = steering_angle;
let query_pipeline = if let Some(bf) = self
.harness
.physics
.broad_phase
.downcast_ref::<BroadPhaseBvh>()
{
bf.as_query_pipeline_mut(
self.harness.physics.narrow_phase.query_dispatcher(),
&mut self.harness.physics.bodies,
&mut self.harness.physics.colliders,
QueryFilter::exclude_dynamic().exclude_rigid_body(vehicle.chassis),
)
} else {
return;
};
let query_pipeline = self.harness.physics.broad_phase.as_query_pipeline_mut(
self.harness.physics.narrow_phase.query_dispatcher(),
&mut self.harness.physics.bodies,
&mut self.harness.physics.colliders,
QueryFilter::exclude_dynamic().exclude_rigid_body(vehicle.chassis),
);
vehicle.update_vehicle(
self.harness.physics.integration_parameters.dt,
@@ -1353,7 +1344,7 @@ fn update_testbed(
}
harness.state.timestep_id = timestep_id;
harness.physics.broad_phase = Box::new(broad_phase);
harness.physics.broad_phase = broad_phase;
harness.physics.narrow_phase = narrow_phase;
harness.physics.islands = island_manager;
harness.physics.bodies = bodies;
@@ -1630,16 +1621,12 @@ fn highlight_hovered_body(
let ray_dir = Vector3::new(ray_dir.x as Real, ray_dir.y as Real, ray_dir.z as Real);
let ray = Ray::new(ray_origin, ray_dir);
let query_pipeline = if let Some(bf) = physics.broad_phase.downcast_ref::<BroadPhaseBvh>() {
bf.as_query_pipeline(
physics.narrow_phase.query_dispatcher(),
&physics.bodies,
&physics.colliders,
QueryFilter::only_dynamic(),
)
} else {
return;
};
let query_pipeline = physics.broad_phase.as_query_pipeline(
physics.narrow_phase.query_dispatcher(),
&physics.bodies,
&physics.colliders,
QueryFilter::only_dynamic(),
);
let hit = query_pipeline.cast_ray(&ray, Real::MAX, true);