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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,
}
}
}