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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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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();
}
}