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feat: implement collision skin

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This commit is contained in:
Sébastien Crozet
2024-04-27 11:36:35 +02:00
committed by Sébastien Crozet
parent c079452a47
commit 664645159d
5 changed files with 66 additions and 23 deletions
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17
src/geometry/narrow_phase.rs
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@@ -898,11 +898,12 @@ impl NarrowPhase {
let pos12 = co1.pos.inv_mul(&co2.pos);
let collision_skin_sum = co1.collision_skin() + co2.collision_skin();
let soft_ccd_prediction1 = rb1.map(|rb| rb.soft_ccd_prediction()).unwrap_or(0.0);
let soft_ccd_prediction2 = rb2.map(|rb| rb.soft_ccd_prediction()).unwrap_or(0.0);
let effective_prediction_distance = if soft_ccd_prediction1 > 0.0 || soft_ccd_prediction2 > 0.0 {
let aabb1 = co1.compute_aabb();
let aabb2 = co2.compute_aabb();
let aabb1 = co1.compute_collision_aabb(0.0);
let aabb2 = co2.compute_collision_aabb(0.0);
let inv_dt = crate::utils::inv(dt);
let linvel1 = rb1.map(|rb| rb.linvel()
@@ -917,9 +918,9 @@ impl NarrowPhase {
prediction_distance.max(
dt * (linvel1 - linvel2).norm())
dt * (linvel1 - linvel2).norm()) + collision_skin_sum
} else {
prediction_distance
prediction_distance + collision_skin_sum
};
let _ = query_dispatcher.contact_manifolds(
@@ -968,12 +969,14 @@ impl NarrowPhase {
break;
}
let keep_solver_contact = contact.dist < prediction_distance || {
let effective_contact_dist = contact.dist - co1.collision_skin() - co2.collision_skin();
let keep_solver_contact = effective_contact_dist < prediction_distance || {
let world_pt1 = world_pos1 * contact.local_p1;
let world_pt2 = world_pos2 * contact.local_p2;
let vel1 = rb1.map(|rb| rb.velocity_at_point(&world_pt1)).unwrap_or_default();
let vel2 = rb2.map(|rb| rb.velocity_at_point(&world_pt2)).unwrap_or_default();
contact.dist + (vel2 - vel1).dot(&manifold.data.normal) * dt < prediction_distance
effective_contact_dist + (vel2 - vel1).dot(&manifold.data.normal) * dt < prediction_distance
};
if keep_solver_contact {
@@ -985,7 +988,7 @@ impl NarrowPhase {
let solver_contact = SolverContact {
contact_id: contact_id as u8,
point: effective_point,
dist: contact.dist,
dist: effective_contact_dist,
friction,
restitution,
tangent_velocity: Vector::zeros(),