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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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50
src/geometry/narrow_phase.rs
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@@ -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())