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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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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.