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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
View File

@@ -59,7 +59,6 @@ impl CCDSolver {
{ {
match impacts { match impacts {
PredictedImpacts::Impacts(tois) => { PredictedImpacts::Impacts(tois) => {
// println!("Num to clamp: {}", tois.len());
for (handle, toi) in tois { for (handle, toi) in tois {
let (rb_poss, vels, ccd, mprops): ( let (rb_poss, vels, ccd, mprops): (
&RigidBodyPosition, &RigidBodyPosition,
@@ -166,7 +165,7 @@ impl CCDSolver {
) = bodies.index_bundle(handle.0); ) = bodies.index_bundle(handle.0);
let predicted_body_pos1 = 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 { for ch1 in &rb_colliders1.0 {
let co_parent1: &ColliderParent = colliders let co_parent1: &ColliderParent = colliders
@@ -307,7 +306,7 @@ impl CCDSolver {
) = bodies.index_bundle(handle.0); ) = bodies.index_bundle(handle.0);
let predicted_body_pos1 = 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 { for ch1 in &rb_colliders1.0 {
let co_parent1: &ColliderParent = colliders let co_parent1: &ColliderParent = colliders
@@ -352,6 +351,7 @@ impl CCDSolver {
.map(|c| c.1.dist) .map(|c| c.1.dist)
.unwrap_or(0.0); .unwrap_or(0.0);
let b1 = bh1.map(|h| bodies.index_bundle(h.0));
let b2 = bh2.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( if let Some(toi) = TOIEntry::try_from_colliders(
@@ -360,7 +360,7 @@ impl CCDSolver {
*ch2, *ch2,
(c1.0, c1.1, c1.2, co_parent1), (c1.0, c1.1, c1.2, co_parent1),
(c2.0, c2.1, c2.2, co_parent2), (c2.0, c2.1, c2.2, co_parent2),
Some((rb_pos1, rb_vels1, rb_mprops1, rb_ccd1)), b1,
b2, b2,
None, None,
None, None,
@@ -445,6 +445,8 @@ impl CCDSolver {
let start_time = toi.toi; 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 { for ch1 in &colliders_to_check {
let co_parent1: &ColliderParent = colliders.get(ch1.0).unwrap(); let co_parent1: &ColliderParent = colliders.get(ch1.0).unwrap();
let (co_shape1, co_pos1): (&ColliderShape, &ColliderPosition) = let (co_shape1, co_pos1): (&ColliderShape, &ColliderPosition) =
@@ -475,7 +477,7 @@ impl CCDSolver {
let b1: Option<(_, _, _, &RigidBodyCcd)> = let b1: Option<(_, _, _, &RigidBodyCcd)> =
bh1.map(|h| bodies.index_bundle(h.0)); bh1.map(|h| bodies.index_bundle(h.0));
let b2: Option<(_, _, _, &RigidBodyCcd)> = 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)) 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)) && (frozen2.is_some() || !b2.map(|b| b.3.ccd_active).unwrap_or(false))

2
src/dynamics/rigid_body_components.rs
View File

@@ -144,7 +144,7 @@ impl RigidBodyPosition {
} }
#[must_use] #[must_use]
pub fn integrate_force_and_velocity( pub fn integrate_forces_and_velocities(
&self, &self,
dt: Real, dt: Real,
forces: &RigidBodyForces, forces: &RigidBodyForces,

6
src/pipeline/query_pipeline.rs
View File

@@ -248,8 +248,8 @@ impl QueryPipeline {
&RigidBodyForces, &RigidBodyForces,
&RigidBodyMassProps, &RigidBodyMassProps,
) = self.bodies.index_bundle(co_parent.handle.0); ) = self.bodies.index_bundle(co_parent.handle.0);
let predicted_pos = let predicted_pos = rb_pos
rb_pos.integrate_force_and_velocity(dt, forces, vels, mprops); .integrate_forces_and_velocities(dt, forces, vels, mprops);
let next_position = predicted_pos * co_parent.pos_wrt_parent; let next_position = predicted_pos * co_parent.pos_wrt_parent;
f( f(
@@ -331,7 +331,7 @@ impl QueryPipeline {
) = bodies.index_bundle(co_parent.handle.0); ) = bodies.index_bundle(co_parent.handle.0);
let predicted_pos = let predicted_pos =
rb_pos.integrate_force_and_velocity(dt, forces, vels, mprops); rb_pos.integrate_forces_and_velocities(dt, forces, vels, mprops);
let next_position = predicted_pos * co_parent.pos_wrt_parent; let next_position = predicted_pos * co_parent.pos_wrt_parent;
co_shape.compute_swept_aabb(&co_pos, &next_position) co_shape.compute_swept_aabb(&co_pos, &next_position)