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feat: add soft (solver-based) ccd implementation

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This commit is contained in:
Sébastien Crozet
2024-04-14 15:54:39 +02:00
committed by Sébastien Crozet
parent 3ddf2441ea
commit 404e032433
7 changed files with 89 additions and 9 deletions
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35
src/dynamics/rigid_body.rs
View File

@@ -436,7 +436,7 @@ impl RigidBody {
]
}
/// Enables of disable CCD (continuous collision-detection) for this rigid-body.
/// Enables of disable CCD (Continuous Collision-Detection) for this rigid-body.
///
/// CCD prevents tunneling, but may still allow limited interpenetration of colliders.
pub fn enable_ccd(&mut self, enabled: bool) {
@@ -448,6 +448,19 @@ impl RigidBody {
self.ccd.ccd_enabled
}
/// Enables of disable soft CCD (soft Continuous Collision-Detection) for this rigid-body.
///
/// Soft-CCD helps prevent tunneling, but may still let tunnelling happen depending on solver
/// convergence. This is cheaper than the full ccd enabled by [`RigidBody::enable_ccd`].
pub fn enable_soft_ccd(&mut self, enabled: bool) {
self.ccd.soft_ccd_enabled = enabled;
}
/// Is Soft-CCD (Soft Continous Collision-Detection) enabled for this rigid-body?
pub fn is_soft_ccd_enabled(&self) -> bool {
self.ccd.soft_ccd_enabled
}
// This is different from `is_ccd_enabled`. This checks that CCD
// is active for this rigid-body, i.e., if it was seen to move fast
// enough to justify a CCD run.
@@ -1101,10 +1114,15 @@ pub struct RigidBodyBuilder {
pub can_sleep: bool,
/// Whether or not the rigid-body is to be created asleep.
pub sleeping: bool,
/// Whether continuous collision-detection is enabled for the rigid-body to be built.
/// Whether Continuous Collision-Detection is enabled for the rigid-body to be built.
///
/// CCD prevents tunneling, but may still allow limited interpenetration of colliders.
pub ccd_enabled: bool,
/// Whether Soft Continuous Collision-Detection is enabled for the rigid-body to be built.
///
/// Soft-CCD helps prevent tunneling, but may still let tunnelling happen depending on solver
/// convergence. This is cheaper than the full ccd enabled by [`RigidBodyBuilder::ccd_enabled`].
pub soft_ccd_enabled: bool,
/// The dominance group of the rigid-body to be built.
pub dominance_group: i8,
/// Will the rigid-body being built be enabled?
@@ -1134,6 +1152,7 @@ impl RigidBodyBuilder {
can_sleep: true,
sleeping: false,
ccd_enabled: false,
soft_ccd_enabled: false,
dominance_group: 0,
enabled: true,
user_data: 0,
@@ -1378,7 +1397,7 @@ impl RigidBodyBuilder {
self
}
/// Sets whether or not continuous collision-detection is enabled for this rigid-body.
/// Sets whether or not Continuous Collision-Detection is enabled for this rigid-body.
///
/// CCD prevents tunneling, but may still allow limited interpenetration of colliders.
pub fn ccd_enabled(mut self, enabled: bool) -> Self {
@@ -1386,6 +1405,15 @@ impl RigidBodyBuilder {
self
}
/// Sets whether or not Soft Continuous Collision-Detection is enabled for this rigid-body.
///
/// Soft-CCD helps prevent tunneling, but may still let tunnelling happen depending on solver
/// convergence. This is cheaper than the full ccd enabled by [`RigidBodyBuilder::ccd_enabled`].
pub fn soft_ccd_enabled(mut self, enabled: bool) -> Self {
self.soft_ccd_enabled = enabled;
self
}
/// Sets whether or not the rigid-body is to be created asleep.
pub fn sleeping(mut self, sleeping: bool) -> Self {
self.sleeping = sleeping;
@@ -1423,6 +1451,7 @@ impl RigidBodyBuilder {
rb.dominance = RigidBodyDominance(self.dominance_group);
rb.enabled = self.enabled;
rb.enable_ccd(self.ccd_enabled);
rb.enable_soft_ccd(self.soft_ccd_enabled);
if self.can_sleep && self.sleeping {
rb.sleep();

3
src/dynamics/rigid_body_components.rs
View File

@@ -821,6 +821,8 @@ pub struct RigidBodyCcd {
pub ccd_active: bool,
/// Is CCD enabled for this rigid-body?
pub ccd_enabled: bool,
/// Is soft-CCD enabled for this rigid-body?
pub soft_ccd_enabled: bool,
}
impl Default for RigidBodyCcd {
@@ -830,6 +832,7 @@ impl Default for RigidBodyCcd {
ccd_max_dist: 0.0,
ccd_active: false,
ccd_enabled: false,
soft_ccd_enabled: false,
}
}
}

3
src/geometry/broad_phase.rs
View File

@@ -1,3 +1,4 @@
use crate::dynamics::RigidBodySet;
use crate::geometry::{BroadPhasePairEvent, ColliderHandle, ColliderSet};
use parry::math::Real;
@@ -38,8 +39,10 @@ pub trait BroadPhase {
/// are still touching or closer than `prediction_distance`.
fn update(
&mut self,
dt: Real,
prediction_distance: Real,
colliders: &mut ColliderSet,
bodies: &RigidBodySet,
modified_colliders: &[ColliderHandle],
removed_colliders: &[ColliderHandle],
events: &mut Vec<BroadPhasePairEvent>,

22
src/geometry/broad_phase_multi_sap/broad_phase_multi_sap.rs
View File

@@ -5,8 +5,8 @@ use crate::geometry::{
BroadPhaseProxyIndex, ColliderBroadPhaseData, ColliderChanges, ColliderHandle,
ColliderPosition, ColliderSet, ColliderShape,
};
use crate::math::Real;
use crate::prelude::BroadPhase;
use crate::math::{Isometry, Real};
use crate::prelude::{BroadPhase, RigidBodySet};
use crate::utils::IndexMut2;
use parry::bounding_volume::BoundingVolume;
use parry::utils::hashmap::HashMap;
@@ -354,6 +354,7 @@ impl BroadPhaseMultiSap {
handle: ColliderHandle,
proxy_index: &mut u32,
collider: (&ColliderPosition, &ColliderShape, &ColliderChanges),
next_position: Option<&Isometry<Real>>,
) -> bool {
let (co_pos, co_shape, co_changes) = collider;
@@ -361,6 +362,13 @@ impl BroadPhaseMultiSap {
.compute_aabb(co_pos)
.loosened(prediction_distance / 2.0);
if let Some(next_position) = next_position {
let next_aabb = co_shape
.compute_aabb(next_position)
.loosened(prediction_distance / 2.0);
aabb.merge(&next_aabb);
}
if aabb.mins.coords.iter().any(|e| !e.is_finite())
|| aabb.maxs.coords.iter().any(|e| !e.is_finite())
{
@@ -563,8 +571,10 @@ impl BroadPhase for BroadPhaseMultiSap {
/// Updates the broad-phase, taking into account the new collider positions.
fn update(
&mut self,
dt: Real,
prediction_distance: Real,
colliders: &mut ColliderSet,
bodies: &RigidBodySet,
modified_colliders: &[ColliderHandle],
removed_colliders: &[ColliderHandle],
events: &mut Vec<BroadPhasePairEvent>,
@@ -585,11 +595,19 @@ impl BroadPhase for BroadPhaseMultiSap {
let mut new_proxy_id = co.bf_data.proxy_index;
let next_pos = co.parent.and_then(|p| {
let parent = bodies.get(p.handle)?;
parent.is_soft_ccd_enabled().then(|| {
parent.predict_position_using_velocity_and_forces(dt) * p.pos_wrt_parent
})
});
if self.handle_modified_collider(
prediction_distance,
*handle,
&mut new_proxy_id,
(&co.pos, &co.shape, &co.changes),
next_pos.as_ref(),
) {
need_region_propagation = true;
}

31
src/geometry/narrow_phase.rs
View File

@@ -8,9 +8,10 @@ use crate::dynamics::{
RigidBodyType,
};
use crate::geometry::{
BroadPhasePairEvent, ColliderChanges, ColliderGraphIndex, ColliderHandle, ColliderPair,
ColliderSet, CollisionEvent, ContactData, ContactManifold, ContactManifoldData, ContactPair,
InteractionGraph, IntersectionPair, SolverContact, SolverFlags, TemporaryInteractionIndex,
BoundingVolume, BroadPhasePairEvent, ColliderChanges, ColliderGraphIndex, ColliderHandle,
ColliderPair, ColliderSet, CollisionEvent, ContactData, ContactManifold, ContactManifoldData,
ContactPair, InteractionGraph, IntersectionPair, SolverContact, SolverFlags,
TemporaryInteractionIndex,
};
use crate::math::{Real, Vector};
use crate::pipeline::{
@@ -896,11 +897,33 @@ impl NarrowPhase {
}
let pos12 = co1.pos.inv_mul(&co2.pos);
let effective_prediction_distance = if rb1.map(|rb| rb.is_soft_ccd_enabled()) == Some(true) ||
rb2.map(|rb| rb.is_soft_ccd_enabled()) == Some(true) {
let aabb1 = co1.compute_aabb();
let aabb2 = co2.compute_aabb();
let linvel1 = rb1.map(|rb| *rb.linvel()).unwrap_or_default();
let linvel2 = rb2.map(|rb| *rb.linvel()).unwrap_or_default();
if !aabb1.intersects(&aabb2) && !aabb1.intersects_moving_aabb(&aabb2, linvel2 - linvel1) {
pair.clear();
break 'emit_events;
}
prediction_distance.max(
dt * (linvel1 - linvel2).norm())
} else {
prediction_distance
};
let _ = query_dispatcher.contact_manifolds(
&pos12,
&*co1.shape,
&*co2.shape,
prediction_distance,
effective_prediction_distance,
&mut pair.manifolds,
&mut pair.workspace,
);

2
src/pipeline/collision_pipeline.rs
View File

@@ -58,8 +58,10 @@ impl CollisionPipeline {
self.broadphase_collider_pairs.clear();
broad_phase.update(
0.0,
prediction_distance,
colliders,
bodies,
modified_colliders,
removed_colliders,
&mut self.broad_phase_events,

2
src/pipeline/physics_pipeline.rs
View File

@@ -112,8 +112,10 @@ impl PhysicsPipeline {
self.broad_phase_events.clear();
self.broadphase_collider_pairs.clear();
broad_phase.update(
integration_parameters.dt,
integration_parameters.prediction_distance,
colliders,
bodies,
modified_colliders,
removed_colliders,
&mut self.broad_phase_events,