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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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11
src_testbed/box2d_backend.rs
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@@ -37,7 +37,7 @@ impl Box2dWorld {
joints: &JointSet,
) -> Self {
let mut world = b2::World::new(&na_vec_to_b2_vec(gravity));
world.set_continuous_physics(false);
world.set_continuous_physics(bodies.iter().any(|b| b.1.is_ccd_enabled()));
let mut res = Box2dWorld {
world,
@@ -77,14 +77,11 @@ impl Box2dWorld {
angular_velocity: body.angvel(),
linear_damping,
angular_damping,
bullet: body.is_ccd_enabled(),
..b2::BodyDef::new()
};
let b2_handle = self.world.create_body(&def);
self.rapier2box2d.insert(handle, b2_handle);
// Collider.
let mut b2_body = self.world.body_mut(b2_handle);
b2_body.set_bullet(false /* collider.is_ccd_enabled() */);
}
}
@@ -163,7 +160,7 @@ impl Box2dWorld {
fixture_def.restitution = collider.restitution;
fixture_def.friction = collider.friction;
fixture_def.density = collider.density();
fixture_def.density = collider.density().unwrap_or(1.0);
fixture_def.is_sensor = collider.is_sensor();
fixture_def.filter = b2::Filter::new();
@@ -215,8 +212,6 @@ impl Box2dWorld {
}
pub fn step(&mut self, counters: &mut Counters, params: &IntegrationParameters) {
// self.world.set_continuous_physics(world.integration_parameters.max_ccd_substeps != 0);
counters.step_started();
self.world.step(
params.dt,