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CCD improvements

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- Fix bug where the CCD thickness wasn’t initialized properly.
- Fix bug where the contact compliance would result in unwanted tunelling, despite CCD being enabled.
This commit is contained in:
Sébastien Crozet
2022-05-30 18:21:35 +02:00
parent c630635e57
commit 6ce26f3818
14 changed files with 130 additions and 37 deletions
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34
src/dynamics/ccd/toi_entry.rs
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@@ -56,14 +56,14 @@ impl TOIEntry {
return None;
}
let linvel1 =
frozen1.is_none() as u32 as Real * rb1.map(|b| b.vels.linvel).unwrap_or(na::zero());
let linvel2 =
frozen2.is_none() as u32 as Real * rb2.map(|b| b.vels.linvel).unwrap_or(na::zero());
let angvel1 =
frozen1.is_none() as u32 as Real * rb1.map(|b| b.vels.angvel).unwrap_or(na::zero());
let angvel2 =
frozen2.is_none() as u32 as Real * rb2.map(|b| b.vels.angvel).unwrap_or(na::zero());
let linvel1 = frozen1.is_none() as u32 as Real
* rb1.map(|b| b.integrated_vels.linvel).unwrap_or(na::zero());
let linvel2 = frozen2.is_none() as u32 as Real
* rb2.map(|b| b.integrated_vels.linvel).unwrap_or(na::zero());
let angvel1 = frozen1.is_none() as u32 as Real
* rb1.map(|b| b.integrated_vels.angvel).unwrap_or(na::zero());
let angvel2 = frozen2.is_none() as u32 as Real
* rb2.map(|b| b.integrated_vels.angvel).unwrap_or(na::zero());
#[cfg(feature = "dim2")]
let vel12 = (linvel2 - linvel1).norm()
@@ -114,6 +114,20 @@ impl TOIEntry {
// because the colliders may be in a separating trajectory.
let stop_at_penetration = is_pseudo_intersection_test;
// let pos12 = motion_c1
// .position_at_time(start_time)
// .inv_mul(&motion_c2.position_at_time(start_time));
// let vel12 = linvel2 - linvel1;
// let res_toi = query_dispatcher
// .time_of_impact(
// &pos12,
// &vel12,
// co1.shape.as_ref(),
// co2.shape.as_ref(),
// end_time - start_time,
// )
// .ok();
let res_toi = query_dispatcher
.nonlinear_time_of_impact(
&motion_c1,
@@ -144,8 +158,8 @@ impl TOIEntry {
NonlinearRigidMotion::new(
rb.pos.position,
rb.mprops.local_mprops.local_com,
rb.vels.linvel,
rb.vels.angvel,
rb.integrated_vels.linvel,
rb.integrated_vels.angvel,
)
} else {
NonlinearRigidMotion::constant_position(rb.pos.next_position)