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First complete implementation of the hierarchical SAP.

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This commit is contained in:
Crozet Sébastien
2021-03-13 18:00:58 +01:00
parent a967ace7d4
commit 3a1502be74
18 changed files with 784 additions and 282 deletions
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13
src/pipeline/physics_pipeline.rs
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@@ -73,7 +73,6 @@ impl PhysicsPipeline {
) {
self.counters.step_started();
bodies.maintain(colliders);
broad_phase.maintain(colliders);
narrow_phase.maintain(colliders, bodies);
// Update kinematic bodies velocities.
@@ -87,19 +86,15 @@ impl PhysicsPipeline {
self.counters.stages.collision_detection_time.start();
self.counters.cd.broad_phase_time.start();
self.broad_phase_events.clear();
self.broadphase_collider_pairs.clear();
// let t = instant::now();
broad_phase.update_aabbs(
broad_phase.update(
integration_parameters.prediction_distance,
bodies,
colliders,
&mut self.broad_phase_events,
);
// println!("Update AABBs time: {}", instant::now() - t);
// let t = instant::now();
self.broad_phase_events.clear();
broad_phase.find_pairs(&mut self.broad_phase_events);
// println!("Find pairs time: {}", instant::now() - t);
narrow_phase.register_pairs(colliders, bodies, &self.broad_phase_events, events);
self.counters.cd.broad_phase_time.pause();