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Fix the last few bugs and unbounded memory usage.

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This commit is contained in:
Crozet Sébastien
2021-03-17 09:34:56 +01:00
parent d82a675b46
commit 326469a1df
10 changed files with 211 additions and 135 deletions
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12
src/geometry/broad_phase_multi_sap/sap_utils.rs
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@@ -5,6 +5,7 @@ pub(crate) const NUM_SENTINELS: usize = 1;
pub(crate) const NEXT_FREE_SENTINEL: u32 = u32::MAX;
pub(crate) const SENTINEL_VALUE: Real = Real::MAX;
pub(crate) const DELETED_AABB_VALUE: Real = SENTINEL_VALUE / 2.0;
pub(crate) const MAX_AABB_EXTENT: Real = SENTINEL_VALUE / 4.0;
pub(crate) const REGION_WIDTH_BASE: Real = 1.0;
pub(crate) const REGION_WIDTH_POWER_BASIS: Real = 5.0;
@@ -18,6 +19,10 @@ pub(crate) fn sort2(a: u32, b: u32) -> (u32, u32) {
}
}
pub(crate) fn clamp_point(point: Point<Real>) -> Point<Real> {
point.map(|e| na::clamp(e, -MAX_AABB_EXTENT, MAX_AABB_EXTENT))
}
pub(crate) fn point_key(point: Point<Real>, region_width: Real) -> Point<i32> {
(point / region_width)
.coords
@@ -32,7 +37,7 @@ pub(crate) fn region_aabb(index: Point<i32>, region_width: Real) -> AABB {
}
pub(crate) fn region_width(depth: i8) -> Real {
REGION_WIDTH_BASE * REGION_WIDTH_POWER_BASIS.powi(depth as i32)
(REGION_WIDTH_BASE * REGION_WIDTH_POWER_BASIS.powi(depth as i32)).min(MAX_AABB_EXTENT)
}
/// Computes the depth of the layer the given AABB should be part of.
@@ -49,8 +54,9 @@ pub(crate) fn layer_containing_aabb(aabb: &AABB) -> i8 {
const NUM_ELEMENTS_PER_DIMENSION: Real = 10.0;
let width = 2.0 * aabb.half_extents().norm() * NUM_ELEMENTS_PER_DIMENSION;
// TODO: handle overflows in the f32 -> i8 conversion.
(width / REGION_WIDTH_BASE)
.log(REGION_WIDTH_POWER_BASIS)
.round() as i8
.round()
.max(i8::MIN as Real)
.min(i8::MAX as Real) as i8
}