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Fix regression in CCD resolution.

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This commit is contained in:
Crozet Sébastien
2021-04-27 16:43:24 +02:00
parent 3cab54b880
commit 83cb981a88
3 changed files with 11 additions and 9 deletions
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12
src/dynamics/ccd/ccd_solver.rs
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@@ -59,7 +59,6 @@ impl CCDSolver {
{
match impacts {
PredictedImpacts::Impacts(tois) => {
// println!("Num to clamp: {}", tois.len());
for (handle, toi) in tois {
let (rb_poss, vels, ccd, mprops): (
&RigidBodyPosition,
@@ -166,7 +165,7 @@ impl CCDSolver {
) = bodies.index_bundle(handle.0);
let predicted_body_pos1 =
rb_pos1.integrate_force_and_velocity(dt, forces1, rb_vels1, rb_mprops1);
rb_pos1.integrate_forces_and_velocities(dt, forces1, rb_vels1, rb_mprops1);
for ch1 in &rb_colliders1.0 {
let co_parent1: &ColliderParent = colliders
@@ -307,7 +306,7 @@ impl CCDSolver {
) = bodies.index_bundle(handle.0);
let predicted_body_pos1 =
rb_pos1.integrate_force_and_velocity(dt, forces1, rb_vels1, rb_mprops1);
rb_pos1.integrate_forces_and_velocities(dt, forces1, rb_vels1, rb_mprops1);
for ch1 in &rb_colliders1.0 {
let co_parent1: &ColliderParent = colliders
@@ -352,6 +351,7 @@ impl CCDSolver {
.map(|c| c.1.dist)
.unwrap_or(0.0);
let b1 = bh1.map(|h| bodies.index_bundle(h.0));
let b2 = bh2.map(|h| bodies.index_bundle(h.0));
if let Some(toi) = TOIEntry::try_from_colliders(
@@ -360,7 +360,7 @@ impl CCDSolver {
*ch2,
(c1.0, c1.1, c1.2, co_parent1),
(c2.0, c2.1, c2.2, co_parent2),
Some((rb_pos1, rb_vels1, rb_mprops1, rb_ccd1)),
b1,
b2,
None,
None,
@@ -445,6 +445,8 @@ impl CCDSolver {
let start_time = toi.toi;
// NOTE: the 1 and 2 indices (e.g., `ch1`, `ch2`) bellow are unrelated to the
// ones we used above.
for ch1 in &colliders_to_check {
let co_parent1: &ColliderParent = colliders.get(ch1.0).unwrap();
let (co_shape1, co_pos1): (&ColliderShape, &ColliderPosition) =
@@ -475,7 +477,7 @@ impl CCDSolver {
let b1: Option<(_, _, _, &RigidBodyCcd)> =
bh1.map(|h| bodies.index_bundle(h.0));
let b2: Option<(_, _, _, &RigidBodyCcd)> =
bh1.map(|h| bodies.index_bundle(h.0));
bh2.map(|h| bodies.index_bundle(h.0));
if (frozen1.is_some() || !b1.map(|b| b.3.ccd_active).unwrap_or(false))
&& (frozen2.is_some() || !b2.map(|b| b.3.ccd_active).unwrap_or(false))