nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

feat: add soft (solver-based) ccd implementation

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

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,
);