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First working version of non-linear CCD based on single-substep motion-clamping.

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This commit is contained in:
Crozet Sébastien
2021-03-26 18:16:27 +01:00
parent 326469a1df
commit 97157c9423
29 changed files with 696 additions and 109 deletions
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17
src/geometry/collider.rs
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@@ -2,7 +2,7 @@ use crate::dynamics::{CoefficientCombineRule, MassProperties, RigidBodyHandle};
use crate::geometry::{InteractionGroups, SAPProxyIndex, SharedShape, SolverFlags};
use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector, DIM};
use crate::parry::transformation::vhacd::VHACDParameters;
use parry::bounding_volume::AABB;
use parry::bounding_volume::{BoundingVolume, AABB};
use parry::shape::Shape;
bitflags::bitflags! {
@@ -62,7 +62,7 @@ pub struct Collider {
pub(crate) parent: RigidBodyHandle,
pub(crate) delta: Isometry<Real>,
pub(crate) position: Isometry<Real>,
pub(crate) predicted_position: Isometry<Real>,
pub(crate) prev_position: Isometry<Real>,
/// The friction coefficient of this collider.
pub friction: Real,
/// The restitution coefficient of this collider.
@@ -139,11 +139,12 @@ impl Collider {
self.shape.compute_aabb(&self.position)
}
// pub(crate) fn compute_aabb_with_prediction(&self) -> AABB {
// let aabb1 = self.shape.compute_aabb(&self.position);
// let aabb2 = self.shape.compute_aabb(&self.predicted_position);
// aabb1.merged(&aabb2)
// }
/// Compute the axis-aligned bounding box of this collider.
pub fn compute_swept_aabb(&self, next_position: &Isometry<Real>) -> AABB {
let aabb1 = self.shape.compute_aabb(&self.position);
let aabb2 = self.shape.compute_aabb(next_position);
aabb1.merged(&aabb2)
}
/// Compute the local-space mass properties of this collider.
pub fn mass_properties(&self) -> MassProperties {
@@ -595,8 +596,8 @@ impl ColliderBuilder {
flags,
solver_flags,
parent: RigidBodyHandle::invalid(),
prev_position: Isometry::identity(),
position: Isometry::identity(),
predicted_position: Isometry::identity(),
proxy_index: crate::INVALID_U32,
collision_groups: self.collision_groups,
solver_groups: self.solver_groups,