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Perform contact sorting in the narrow-phase directly.

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This commit is contained in:
Crozet Sébastien
2020-12-31 11:16:03 +01:00
parent 64507a68e1
commit 967145a949
21 changed files with 116 additions and 206 deletions
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8
src/dynamics/rigid_body_set.rs
View File

@@ -20,13 +20,9 @@ pub struct BodyPair {
}
impl BodyPair {
pub(crate) fn new(body1: RigidBodyHandle, body2: RigidBodyHandle) -> Self {
pub fn new(body1: RigidBodyHandle, body2: RigidBodyHandle) -> Self {
BodyPair { body1, body2 }
}
pub(crate) fn swap(self) -> Self {
Self::new(self.body2, self.body1)
}
}
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
@@ -479,7 +475,7 @@ impl RigidBodySet {
if let Some(contacts) = narrow_phase.contacts_with(*collider_handle) {
for inter in contacts {
for manifold in &inter.2.manifolds {
if manifold.num_active_contacts > 0 {
if !manifold.data.solver_contacts.is_empty() {
let other = crate::utils::other_handle(
(inter.0, inter.1),
*collider_handle,

4
src/dynamics/solver/interaction_groups.rs
View File

@@ -338,7 +338,7 @@ impl InteractionGroups {
let mut occupied_mask = 0u128;
let max_interaction_points = interaction_indices
.iter()
.map(|i| interactions[*i].num_active_contacts)
.map(|i| interactions[*i].data.num_active_contacts())
.max()
.unwrap_or(1);
@@ -351,7 +351,7 @@ impl InteractionGroups {
// FIXME: how could we avoid iterating
// on each interaction at every iteration on k?
if interaction.num_active_contacts != k {
if interaction.data.num_active_contacts() != k {
continue;
}

8
src/dynamics/solver/position_constraint.rs
View File

@@ -66,9 +66,13 @@ impl PositionConstraint {
) {
let rb1 = &bodies[manifold.data.body_pair.body1];
let rb2 = &bodies[manifold.data.body_pair.body2];
let active_contacts = &manifold.data.solver_contacts[..manifold.num_active_contacts];
for (l, manifold_points) in active_contacts.chunks(MAX_MANIFOLD_POINTS).enumerate() {
for (l, manifold_points) in manifold
.data
.solver_contacts
.chunks(MAX_MANIFOLD_POINTS)
.enumerate()
{
let mut local_p1 = [Point::origin(); MAX_MANIFOLD_POINTS];
let mut local_p2 = [Point::origin(); MAX_MANIFOLD_POINTS];
let mut dists = [0.0; MAX_MANIFOLD_POINTS];

6
src/dynamics/solver/position_constraint_wide.rs
View File

@@ -8,7 +8,7 @@ use crate::math::{
use crate::utils::{WAngularInertia, WCross, WDot};
use num::Zero;
use simba::simd::{SimdBool as _, SimdComplexField, SimdPartialOrd, SimdValue};
use simba::simd::{SimdBool as _, SimdPartialOrd, SimdValue};
pub(crate) struct WPositionConstraint {
pub rb1: [usize; SIMD_WIDTH],
@@ -55,10 +55,10 @@ impl WPositionConstraint {
let rb1 = array![|ii| rbs1[ii].active_set_offset; SIMD_WIDTH];
let rb2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
let num_active_contacts = manifolds[0].num_active_contacts();
let num_active_contacts = manifolds[0].data.num_active_contacts();
for l in (0..num_active_contacts).step_by(MAX_MANIFOLD_POINTS) {
let manifold_points = array![|ii| &manifolds[ii].data.solver_contacts[l..num_active_contacts]; SIMD_WIDTH];
let manifold_points = array![|ii| &manifolds[ii].data.solver_contacts[l..]; SIMD_WIDTH];
let num_points = manifold_points[0].len().min(MAX_MANIFOLD_POINTS);
let mut constraint = WPositionConstraint {

9
src/dynamics/solver/position_ground_constraint.rs
View File

@@ -39,9 +39,12 @@ impl PositionGroundConstraint {
manifold.data.normal
};
let active_contacts = &manifold.data.solver_contacts[..manifold.num_active_contacts];
for (l, manifold_contacts) in active_contacts.chunks(MAX_MANIFOLD_POINTS).enumerate() {
for (l, manifold_contacts) in manifold
.data
.solver_contacts
.chunks(MAX_MANIFOLD_POINTS)
.enumerate()
{
let mut p1 = [Point::origin(); MAX_MANIFOLD_POINTS];
let mut local_p2 = [Point::origin(); MAX_MANIFOLD_POINTS];
let mut dists = [0.0; MAX_MANIFOLD_POINTS];

6
src/dynamics/solver/position_ground_constraint_wide.rs
View File

@@ -8,7 +8,7 @@ use crate::math::{
use crate::utils::{WAngularInertia, WCross, WDot};
use num::Zero;
use simba::simd::{SimdBool as _, SimdComplexField, SimdPartialOrd, SimdValue};
use simba::simd::{SimdBool as _, SimdPartialOrd, SimdValue};
pub(crate) struct WPositionGroundConstraint {
pub rb2: [usize; SIMD_WIDTH],
@@ -56,10 +56,10 @@ impl WPositionGroundConstraint {
let pos2 = Isometry::from(array![|ii| rbs2[ii].position; SIMD_WIDTH]);
let rb2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
let num_active_contacts = manifolds[0].num_active_contacts();
let num_active_contacts = manifolds[0].data.num_active_contacts();
for l in (0..num_active_contacts).step_by(MAX_MANIFOLD_POINTS) {
let manifold_points = array![|ii| &manifolds[ii].data.solver_contacts[l..num_active_contacts]; SIMD_WIDTH];
let manifold_points = array![|ii| &manifolds[ii].data.solver_contacts[l..]; SIMD_WIDTH];
let num_points = manifold_points[0].len().min(MAX_MANIFOLD_POINTS);
let mut constraint = WPositionGroundConstraint {

14
src/dynamics/solver/position_solver.rs
View File

@@ -1,16 +1,6 @@
use super::{
AnyJointPositionConstraint, InteractionGroups, PositionConstraint, PositionGroundConstraint,
};
#[cfg(feature = "simd-is-enabled")]
use super::{WPositionConstraint, WPositionGroundConstraint};
use crate::dynamics::solver::categorization::categorize_joints;
use crate::dynamics::{
solver::AnyPositionConstraint, IntegrationParameters, JointGraphEdge, JointIndex, RigidBodySet,
};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
use super::AnyJointPositionConstraint;
use crate::dynamics::{solver::AnyPositionConstraint, IntegrationParameters, RigidBodySet};
use crate::math::Isometry;
#[cfg(feature = "simd-is-enabled")]
use crate::math::SIMD_WIDTH;
pub(crate) struct PositionSolver {
positions: Vec<Isometry<f32>>,

4
src/dynamics/solver/solver_constraints.rs
View File

@@ -9,13 +9,11 @@ use crate::dynamics::solver::{
PositionGroundConstraint, WPositionConstraint, WPositionGroundConstraint,
};
use crate::dynamics::{
solver::{AnyVelocityConstraint, DeltaVel},
IntegrationParameters, JointGraphEdge, JointIndex, RigidBodySet,
solver::AnyVelocityConstraint, IntegrationParameters, JointGraphEdge, JointIndex, RigidBodySet,
};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
#[cfg(feature = "simd-is-enabled")]
use crate::math::SIMD_WIDTH;
use crate::utils::WAngularInertia;
pub(crate) struct SolverConstraints<VelocityConstraint, PositionConstraint> {
pub not_ground_interactions: Vec<usize>,

10
src/dynamics/solver/velocity_constraint.rs
View File

@@ -150,9 +150,13 @@ impl VelocityConstraint {
let mj_lambda2 = rb2.active_set_offset;
let force_dir1 = -manifold.data.normal;
let warmstart_coeff = manifold.data.warmstart_multiplier * params.warmstart_coeff;
let active_contacts = &manifold.data.solver_contacts[..manifold.num_active_contacts];
for (l, manifold_points) in active_contacts.chunks(MAX_MANIFOLD_POINTS).enumerate() {
for (l, manifold_points) in manifold
.data
.solver_contacts
.chunks(MAX_MANIFOLD_POINTS)
.enumerate()
{
#[cfg(not(target_arch = "wasm32"))]
let mut constraint = VelocityConstraint {
dir1: force_dir1,
@@ -383,7 +387,7 @@ impl VelocityConstraint {
let k_base = self.manifold_contact_id;
for k in 0..self.num_contacts as usize {
let active_contacts = manifold.active_contacts_mut();
let active_contacts = &mut manifold.points[..manifold.data.num_active_contacts()];
active_contacts[k_base + k].data.impulse = self.elements[k].normal_part.impulse;
#[cfg(feature = "dim2")]
{

7
src/dynamics/solver/velocity_constraint_wide.rs
View File

@@ -2,8 +2,7 @@ use super::{AnyVelocityConstraint, DeltaVel};
use crate::dynamics::{IntegrationParameters, RigidBodySet};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
use crate::math::{
AngVector, AngularInertia, Isometry, Point, SimdReal, Vector, DIM, MAX_MANIFOLD_POINTS,
SIMD_WIDTH,
AngVector, AngularInertia, Point, SimdReal, Vector, DIM, MAX_MANIFOLD_POINTS, SIMD_WIDTH,
};
use crate::utils::{WAngularInertia, WBasis, WCross, WDot};
use num::Zero;
@@ -100,7 +99,7 @@ impl WVelocityConstraint {
let warmstart_multiplier =
SimdReal::from(array![|ii| manifolds[ii].data.warmstart_multiplier; SIMD_WIDTH]);
let warmstart_coeff = warmstart_multiplier * SimdReal::splat(params.warmstart_coeff);
let num_active_contacts = manifolds[0].num_active_contacts();
let num_active_contacts = manifolds[0].data.num_active_contacts();
for l in (0..num_active_contacts).step_by(MAX_MANIFOLD_POINTS) {
let manifold_points = array![|ii|
@@ -333,7 +332,7 @@ impl WVelocityConstraint {
for ii in 0..SIMD_WIDTH {
let manifold = &mut manifolds_all[self.manifold_id[ii]];
let k_base = self.manifold_contact_id;
let active_contacts = manifold.active_contacts_mut();
let active_contacts = &mut manifold.points[..manifold.data.num_active_contacts()];
active_contacts[k_base + k].data.impulse = impulses[ii];
#[cfg(feature = "dim2")]

10
src/dynamics/solver/velocity_ground_constraint.rs
View File

@@ -76,9 +76,13 @@ impl VelocityGroundConstraint {
let mj_lambda2 = rb2.active_set_offset;
let warmstart_coeff = manifold.data.warmstart_multiplier * params.warmstart_coeff;
let active_contacts = &manifold.data.solver_contacts[..manifold.num_active_contacts];
for (l, manifold_points) in active_contacts.chunks(MAX_MANIFOLD_POINTS).enumerate() {
for (l, manifold_points) in manifold
.data
.solver_contacts
.chunks(MAX_MANIFOLD_POINTS)
.enumerate()
{
#[cfg(not(target_arch = "wasm32"))]
let mut constraint = VelocityGroundConstraint {
dir1: force_dir1,
@@ -268,7 +272,7 @@ impl VelocityGroundConstraint {
let k_base = self.manifold_contact_id;
for k in 0..self.num_contacts as usize {
let active_contacts = manifold.active_contacts_mut();
let active_contacts = &mut manifold.points[..manifold.data.num_active_contacts()];
active_contacts[k_base + k].data.impulse = self.elements[k].normal_part.impulse;
#[cfg(feature = "dim2")]
{

9
src/dynamics/solver/velocity_ground_constraint_wide.rs
View File

@@ -2,8 +2,7 @@ use super::{AnyVelocityConstraint, DeltaVel};
use crate::dynamics::{IntegrationParameters, RigidBodySet};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
use crate::math::{
AngVector, AngularInertia, Isometry, Point, SimdReal, Vector, DIM, MAX_MANIFOLD_POINTS,
SIMD_WIDTH,
AngVector, AngularInertia, Point, SimdReal, Vector, DIM, MAX_MANIFOLD_POINTS, SIMD_WIDTH,
};
use crate::utils::{WAngularInertia, WBasis, WCross, WDot};
use num::Zero;
@@ -100,10 +99,10 @@ impl WVelocityGroundConstraint {
let warmstart_multiplier =
SimdReal::from(array![|ii| manifolds[ii].data.warmstart_multiplier; SIMD_WIDTH]);
let warmstart_coeff = warmstart_multiplier * SimdReal::splat(params.warmstart_coeff);
let num_active_contacts = manifolds[0].num_active_contacts();
let num_active_contacts = manifolds[0].data.num_active_contacts();
for l in (0..num_active_contacts).step_by(MAX_MANIFOLD_POINTS) {
let manifold_points = array![|ii| &manifolds[ii].data.solver_contacts[l..num_active_contacts]; SIMD_WIDTH];
let manifold_points = array![|ii| &manifolds[ii].data.solver_contacts[l..]; SIMD_WIDTH];
let num_points = manifold_points[0].len().min(MAX_MANIFOLD_POINTS);
let mut constraint = WVelocityGroundConstraint {
@@ -283,7 +282,7 @@ impl WVelocityGroundConstraint {
for ii in 0..SIMD_WIDTH {
let manifold = &mut manifolds_all[self.manifold_id[ii]];
let k_base = self.manifold_contact_id;
let active_contacts = manifold.active_contacts_mut();
let active_contacts = &mut manifold.points[..manifold.data.num_active_contacts()];
active_contacts[k_base + k].data.impulse = impulses[ii];
#[cfg(feature = "dim2")]

17
src/dynamics/solver/velocity_solver.rs
View File

@@ -1,20 +1,9 @@
use super::{
AnyJointVelocityConstraint, InteractionGroups, VelocityConstraint, VelocityGroundConstraint,
};
#[cfg(feature = "simd-is-enabled")]
use super::{WVelocityConstraint, WVelocityGroundConstraint};
use crate::dynamics::solver::categorization::{categorize_contacts, categorize_joints};
use crate::dynamics::solver::{
AnyJointPositionConstraint, AnyPositionConstraint, PositionConstraint,
PositionGroundConstraint, WPositionConstraint, WPositionGroundConstraint,
};
use super::AnyJointVelocityConstraint;
use crate::dynamics::{
solver::{AnyVelocityConstraint, DeltaVel},
IntegrationParameters, JointGraphEdge, JointIndex, RigidBodySet,
IntegrationParameters, JointGraphEdge, RigidBodySet,
};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
#[cfg(feature = "simd-is-enabled")]
use crate::math::SIMD_WIDTH;
use crate::geometry::ContactManifold;
use crate::utils::WAngularInertia;
pub(crate) struct VelocitySolver {

129
src/geometry/contact_pair.rs
View File

@@ -1,13 +1,7 @@
use crate::dynamics::{BodyPair, RigidBodyHandle, RigidBodySet};
use crate::geometry::{Collider, ColliderPair, ColliderSet, Contact, ContactManifold};
use crate::math::{Isometry, Point, Real, Vector};
use crate::dynamics::{BodyPair, RigidBodySet};
use crate::geometry::{Collider, ColliderPair, ContactManifold};
use crate::math::{Point, Real, Vector};
use cdl::query::ContactManifoldsWorkspace;
use cdl::utils::MaybeSerializableData;
#[cfg(feature = "simd-is-enabled")]
use {
crate::math::{SimdReal, SIMD_WIDTH},
simba::simd::SimdValue,
};
bitflags::bitflags! {
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
@@ -19,33 +13,6 @@ bitflags::bitflags! {
}
}
#[cfg(feature = "simd-is-enabled")]
pub(crate) struct WContact {
pub local_p1: Point<SimdReal>,
pub local_p2: Point<SimdReal>,
pub local_n1: Vector<SimdReal>,
pub local_n2: Vector<SimdReal>,
pub dist: SimdReal,
pub fid1: [u8; SIMD_WIDTH],
pub fid2: [u8; SIMD_WIDTH],
}
#[cfg(feature = "simd-is-enabled")]
impl WContact {
pub fn extract(&self, i: usize) -> (Contact, Vector<f32>, Vector<f32>) {
let c = Contact {
local_p1: self.local_p1.extract(i),
local_p2: self.local_p2.extract(i),
dist: self.dist.extract(i),
fid1: self.fid1[i],
fid2: self.fid2[i],
data: ContactData::default(),
};
(c, self.local_n1.extract(i), self.local_n2.extract(i))
}
}
#[derive(Copy, Clone, Debug)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
/// A single contact between two collider.
@@ -112,40 +79,13 @@ impl ContactPair {
/// An active contact is a contact that may result in a non-zero contact force.
pub fn has_any_active_contact(&self) -> bool {
for manifold in &self.manifolds {
if manifold.num_active_contacts != 0 {
if manifold.data.num_active_contacts() != 0 {
return true;
}
}
false
}
pub(crate) fn single_manifold<'a, 'b>(
&'a mut self,
colliders: &'b ColliderSet,
flags: SolverFlags,
) -> (
&'b Collider,
&'b Collider,
&'a mut ContactManifold,
Option<&'a mut (dyn MaybeSerializableData)>,
) {
let coll1 = &colliders[self.pair.collider1];
let coll2 = &colliders[self.pair.collider2];
if self.manifolds.len() == 0 {
let manifold_data = ContactManifoldData::with_subshape_indices(coll1, coll2, flags);
self.manifolds
.push(ContactManifold::with_data((0, 0), manifold_data));
}
(
coll1,
coll2,
&mut self.manifolds[0],
self.workspace.as_mut().map(|w| &mut *w.0),
)
}
}
#[derive(Clone, Debug)]
@@ -206,22 +146,9 @@ impl ContactManifoldData {
}
}
pub(crate) fn set_from_colliders(
&mut self,
coll1: &Collider,
coll2: &Collider,
flags: SolverFlags,
) {
self.body_pair = BodyPair::new(coll1.parent, coll2.parent);
self.solver_flags = flags;
}
pub(crate) fn with_subshape_indices(
coll1: &Collider,
coll2: &Collider,
solver_flags: SolverFlags,
) -> Self {
Self::new(BodyPair::new(coll1.parent, coll2.parent), solver_flags)
#[inline]
pub fn num_active_contacts(&self) -> usize {
self.solver_contacts.len()
}
pub(crate) fn min_warmstart_multiplier() -> f32 {
@@ -232,25 +159,25 @@ impl ContactManifoldData {
1.0 // 0.01
}
pub(crate) fn update_warmstart_multiplier(manifold: &mut ContactManifold) {
// In 2D, tall stacks will actually suffer from this
// because oscillation due to inaccuracies in 2D often
// cause contacts to break, which would result in
// a reset of the warmstart multiplier.
if cfg!(feature = "dim2") {
manifold.data.warmstart_multiplier = 1.0;
return;
}
for pt in &manifold.points {
if pt.data.impulse != 0.0 {
manifold.data.warmstart_multiplier =
(manifold.data.warmstart_multiplier * 2.0).min(1.0);
return;
}
}
// Reset the multiplier.
manifold.data.warmstart_multiplier = Self::min_warmstart_multiplier()
}
// pub(crate) fn update_warmstart_multiplier(manifold: &mut ContactManifold) {
// // In 2D, tall stacks will actually suffer from this
// // because oscillation due to inaccuracies in 2D often
// // cause contacts to break, which would result in
// // a reset of the warmstart multiplier.
// if cfg!(feature = "dim2") {
// manifold.data.warmstart_multiplier = 1.0;
// return;
// }
//
// for pt in &manifold.points {
// if pt.data.impulse != 0.0 {
// manifold.data.warmstart_multiplier =
// (manifold.data.warmstart_multiplier * 2.0).min(1.0);
// return;
// }
// }
//
// // Reset the multiplier.
// manifold.data.warmstart_multiplier = Self::min_warmstart_multiplier()
// }
}

2
src/geometry/mod.rs
View File

@@ -81,8 +81,6 @@ impl IntersectionEvent {
pub(crate) use self::broad_phase_multi_sap::{BroadPhasePairEvent, ColliderPair};
pub(crate) use self::collider_set::RemovedCollider;
#[cfg(feature = "simd-is-enabled")]
pub(crate) use self::contact_pair::WContact;
pub use self::interaction_groups::InteractionGroups;
pub(crate) use self::narrow_phase::ContactManifoldIndex;
pub(crate) use cdl::partitioning::SimdQuadTree;

50
src/geometry/narrow_phase.rs
View File

@@ -3,7 +3,7 @@ use rayon::prelude::*;
use crate::data::pubsub::Subscription;
use crate::data::Coarena;
use crate::dynamics::RigidBodySet;
use crate::dynamics::{BodyPair, RigidBodySet};
use crate::geometry::{
BroadPhasePairEvent, ColliderGraphIndex, ColliderHandle, ContactData, ContactEvent,
ContactManifoldData, ContactPairFilter, IntersectionEvent, PairFilterContext,
@@ -12,7 +12,7 @@ use crate::geometry::{
use crate::geometry::{ColliderSet, ContactManifold, ContactPair, InteractionGraph};
use crate::math::Vector;
use crate::pipeline::EventHandler;
use cdl::query::{DefaultQueryDispatcher, PersistentQueryDispatcher, QueryDispatcher};
use cdl::query::{DefaultQueryDispatcher, PersistentQueryDispatcher};
use std::collections::HashMap;
use std::sync::Arc;
@@ -389,7 +389,6 @@ impl NarrowPhase {
pub(crate) fn compute_intersections(
&mut self,
prediction_distance: f32,
bodies: &RigidBodySet,
colliders: &ColliderSet,
pair_filter: Option<&dyn ProximityPairFilter>,
@@ -528,21 +527,40 @@ impl NarrowPhase {
// TODO: don't write this everytime?
for manifold in &mut pair.manifolds {
manifold.data.solver_contacts.clear();
manifold.data.set_from_colliders(co1, co2, solver_flags);
manifold.data.body_pair = BodyPair::new(co1.parent(), co2.parent());
manifold.data.solver_flags = 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,
};
// Sort contacts and generate solver contacts.
let mut first_inactive_index = manifold.points.len();
manifold.data.solver_contacts.push(solver_contact);
while manifold.data.num_active_contacts() != first_inactive_index {
let contact = &manifold.points[manifold.data.num_active_contacts()];
if contact.dist < prediction_distance {
// Generate the solver contact.
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,
};
// TODO: apply the user-defined contact modification/removal, if needed.
manifold.data.solver_contacts.push(solver_contact);
continue;
}
// If we reach this code, then the contact must be ignored by the constraints solver.
// Swap with the last contact.
manifold.points.swap(
manifold.data.num_active_contacts(),
first_inactive_index - 1,
);
first_inactive_index -= 1;
}
}
});
@@ -569,7 +587,7 @@ impl NarrowPhase {
.data
.solver_flags
.contains(SolverFlags::COMPUTE_IMPULSES)
&& manifold.num_active_contacts() != 0
&& manifold.data.num_active_contacts() != 0
&& (rb1.is_dynamic() || rb2.is_dynamic())
&& (!rb1.is_dynamic() || !rb1.is_sleeping())
&& (!rb2.is_dynamic() || !rb2.is_sleeping())

8
src/pipeline/collision_pipeline.rs
View File

@@ -64,13 +64,7 @@ impl CollisionPipeline {
contact_pair_filter,
events,
);
narrow_phase.compute_intersections(
prediction_distance,
bodies,
colliders,
proximity_pair_filter,
events,
);
narrow_phase.compute_intersections(bodies, colliders, proximity_pair_filter, events);
bodies.update_active_set_with_contacts(
colliders,

8
src/pipeline/physics_pipeline.rs
View File

@@ -118,13 +118,7 @@ impl PhysicsPipeline {
contact_pair_filter,
events,
);
narrow_phase.compute_intersections(
integration_parameters.prediction_distance,
bodies,
colliders,
proximity_pair_filter,
events,
);
narrow_phase.compute_intersections(bodies, colliders, proximity_pair_filter, events);
// println!("Compute contact time: {}", instant::now() - t);
self.counters.stages.island_construction_time.start();

2
src/pipeline/query_pipeline.rs
View File

@@ -2,8 +2,6 @@ use crate::dynamics::RigidBodySet;
use crate::geometry::{
Collider, ColliderHandle, ColliderSet, InteractionGroups, Ray, RayIntersection, SimdQuadTree,
};
use cdl::query::TOI;
use cdl::shape::Shape;
/// A pipeline for performing queries on all the colliders of a scene.
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]

9
src/utils.rs
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@@ -1,17 +1,12 @@
//! Miscellaneous utilities.
use crate::dynamics::RigidBodyHandle;
use na::{Matrix2, Matrix3, Matrix3x2, Point2, Point3, Scalar, SimdRealField, Vector2, Vector3};
use na::{Matrix3, Point2, Point3, Scalar, SimdRealField, Vector2, Vector3};
use num::Zero;
use simba::simd::SimdValue;
use cdl::utils::SdpMatrix3;
use std::ops::{Add, Mul};
use {
crate::math::{AngularInertia, SimdBool, SimdReal},
na::SimdPartialOrd,
num::One,
};
use {crate::math::SimdReal, na::SimdPartialOrd, num::One};
pub(crate) fn inv(val: f32) -> f32 {
if val == 0.0 {

2
src_testbed/testbed.rs
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@@ -1515,7 +1515,7 @@ Hashes at frame: {}
fn draw_contacts(window: &mut Window, nf: &NarrowPhase, colliders: &ColliderSet) {
for pair in nf.contact_pairs() {
for manifold in &pair.manifolds {
for pt in manifold.all_contacts() {
for pt in manifold.contacts() {
let color = if pt.dist > 0.0 {
Point3::new(0.0, 0.0, 1.0)
} else {