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Try using solver contacts again, but in a more cache-coherent way.

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This commit is contained in:
Crozet Sébastien
2020-12-30 17:30:07 +01:00
parent 7545e06cb1
commit 43628c8846
11 changed files with 165 additions and 263 deletions
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21
src/geometry/narrow_phase.rs
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@@ -7,9 +7,10 @@ use crate::dynamics::RigidBodySet;
use crate::geometry::{
BroadPhasePairEvent, ColliderGraphIndex, ColliderHandle, ContactData, ContactEvent,
ContactManifoldData, ContactPairFilter, IntersectionEvent, PairFilterContext,
ProximityPairFilter, RemovedCollider, SolverFlags,
ProximityPairFilter, RemovedCollider, SolverContact, SolverFlags,
};
use crate::geometry::{ColliderSet, ContactManifold, ContactPair, InteractionGraph};
use crate::math::Vector;
use crate::pipeline::EventHandler;
use cdl::query::{DefaultQueryDispatcher, PersistentQueryDispatcher, QueryDispatcher};
use std::collections::HashMap;
@@ -526,7 +527,23 @@ impl NarrowPhase {
// TODO: don't write this everytime?
for manifold in &mut pair.manifolds {
manifold.data = ContactManifoldData::from_colliders(co1, co2, solver_flags);
manifold.data.solver_contacts.clear();
manifold.data.set_from_colliders(co1, co2, solver_flags);
manifold.data.normal = co1.position() * manifold.local_n1;
for contact in &manifold.points[..manifold.num_active_contacts] {
let solver_contact = SolverContact {
point: co1.position() * contact.local_p1
+ manifold.data.normal * contact.dist / 2.0,
dist: contact.dist,
friction: (co1.friction + co2.friction) / 2.0,
restitution: (co1.restitution + co2.restitution) / 2.0,
surface_velocity: Vector::zeros(),
data: contact.data,
};
manifold.data.solver_contacts.push(solver_contact);
}
}
});
}