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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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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())