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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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8
Cargo.toml
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@@ -19,10 +19,10 @@ members = [ "build/rapier2d", "build/rapier2d-f64", "build/rapier_testbed2d", "e
#kiss3d = { git = "https://github.com/sebcrozet/kiss3d" }
#nalgebra = { git = "https://github.com/dimforge/nalgebra", branch = "dev" }
#parry2d = { git = "https://github.com/dimforge/parry" }
#parry3d = { git = "https://github.com/dimforge/parry" }
#parry2d-f64 = { git = "https://github.com/dimforge/parry" }
#parry3d-f64 = { git = "https://github.com/dimforge/parry" }
parry2d = { git = "https://github.com/dimforge/parry", branch = "special_cases" }
parry3d = { git = "https://github.com/dimforge/parry", branch = "special_cases" }
parry2d-f64 = { git = "https://github.com/dimforge/parry", branch = "special_cases" }
parry3d-f64 = { git = "https://github.com/dimforge/parry", branch = "special_cases" }
#ncollide2d = { git = "https://github.com/dimforge/ncollide" }
#ncollide3d = { git = "https://github.com/dimforge/ncollide" }
#nphysics2d = { git = "https://github.com/dimforge/nphysics" }

2
benchmarks3d/all_benchmarks3.rs
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@@ -13,6 +13,7 @@ use std::cmp::Ordering;
mod balls3;
mod boxes3;
mod capsules3;
mod ccd3;
mod compound3;
mod convex_polyhedron3;
mod heightfield3;
@@ -52,6 +53,7 @@ pub fn main() {
("Balls", balls3::init_world),
("Boxes", boxes3::init_world),
("Capsules", capsules3::init_world),
("CCD", ccd3::init_world),
("Compound", compound3::init_world),
("Convex polyhedron", convex_polyhedron3::init_world),
("Heightfield", heightfield3::init_world),

85
benchmarks3d/ccd3.rs Normal file
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@@ -0,0 +1,85 @@
use na::Point3;
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
/*
* World
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
/*
* Ground
*/
let ground_size = 100.1;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -ground_height, 0.0)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
colliders.insert(collider, handle, &mut bodies);
/*
* Create the cubes
*/
let num = 4;
let numj = 20;
let rad = 1.0;
let shiftx = rad * 2.0 + rad;
let shifty = rad * 2.0 + rad;
let shiftz = rad * 2.0 + rad;
let centerx = shiftx * (num / 2) as f32;
let centery = shifty / 2.0;
let centerz = shiftz * (num / 2) as f32;
let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
for j in 0usize..numj {
for i in 0..num {
for k in 0usize..num {
let x = i as f32 * shiftx - centerx + offset;
let y = j as f32 * shifty + centery + 3.0;
let z = k as f32 * shiftz - centerz + offset;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(x, y, z)
.linvel(0.0, -1000.0, 0.0)
.ccd_enabled(true)
.build();
let handle = bodies.insert(rigid_body);
let collider = match j % 5 {
0 => ColliderBuilder::cuboid(rad, rad, rad),
1 => ColliderBuilder::ball(rad),
// Rounded cylinders are much more efficient that cylinder, even if the
// rounding margin is small.
// 2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0),
// 3 => ColliderBuilder::cone(rad, rad),
_ => ColliderBuilder::capsule_y(rad, rad),
};
colliders.insert(collider.build(), handle, &mut bodies);
}
}
offset -= 0.05 * rad * (num as f32 - 1.0);
}
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
}
fn main() {
let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
testbed.run()
}

2
examples2d/all_examples2.rs
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@@ -11,6 +11,7 @@ use rapier_testbed2d::Testbed;
use std::cmp::Ordering;
mod add_remove2;
mod ccd2;
mod collision_groups2;
mod convex_polygons2;
mod damping2;
@@ -60,6 +61,7 @@ pub fn main() {
let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
("Add remove", add_remove2::init_world),
("CCD", ccd2::init_world),
("Collision groups", collision_groups2::init_world),
("Convex polygons", convex_polygons2::init_world),
("Damping", damping2::init_world),

2
examples3d/all_examples3.rs
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@@ -10,6 +10,7 @@ use inflector::Inflector;
use rapier_testbed3d::Testbed;
use std::cmp::Ordering;
mod ccd3;
mod collision_groups3;
mod compound3;
mod convex_decomposition3;
@@ -77,6 +78,7 @@ pub fn main() {
let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
("Fountain", fountain3::init_world),
("Primitives", primitives3::init_world),
("CCD", ccd3::init_world),
("Collision groups", collision_groups3::init_world),
("Compound", compound3::init_world),
("Convex decomposition", convex_decomposition3::init_world),

145
examples3d/ccd3.rs Normal file
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@@ -0,0 +1,145 @@
use na::{Isometry3, Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier_testbed3d::Testbed;
fn create_wall(
testbed: &mut Testbed,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
offset: Vector3<f32>,
stack_height: usize,
half_extents: Vector3<f32>,
) {
let shift = half_extents * 2.0;
for i in 0usize..stack_height {
for j in i..stack_height {
let fj = j as f32;
let fi = i as f32;
let x = offset.x;
let y = fi * shift.y + offset.y;
let z = (fi * shift.z / 2.0) + (fj - fi) * shift.z + offset.z
- stack_height as f32 * half_extents.z;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let handle = bodies.insert(rigid_body);
let collider =
ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
colliders.insert(collider, handle, bodies);
testbed.set_body_color(handle, Point3::new(218. / 255., 201. / 255., 1.0));
}
}
}
pub fn init_world(testbed: &mut Testbed) {
/*
* World
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
/*
* Ground
*/
let ground_size = 50.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -ground_height, 0.0)
.build();
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
colliders.insert(collider, ground_handle, &mut bodies);
/*
* Create the pyramids.
*/
let num_z = 8;
let num_x = 5;
let shift_y = ground_height + 0.5;
let shift_z = (num_z as f32 + 2.0) * 2.0;
for i in 0..num_x {
let x = i as f32 * 6.0;
create_wall(
testbed,
&mut bodies,
&mut colliders,
Vector3::new(x, shift_y, 0.0),
num_z,
Vector3::new(0.5, 0.5, 1.0),
);
create_wall(
testbed,
&mut bodies,
&mut colliders,
Vector3::new(x, shift_y, shift_z),
num_z,
Vector3::new(0.5, 0.5, 1.0),
);
}
/*
* Create two very fast rigid-bodies.
* The first one has CCD enabled and a sensor collider attached to it.
* The second one has CCD enabled and a collider attached to it.
*/
let collider = ColliderBuilder::ball(1.0)
.density(10.0)
.sensor(true)
.build();
let mut rigid_body = RigidBodyBuilder::new_dynamic()
.linvel(1000.0, 0.0, 0.0)
.translation(-20.0, shift_y + 2.0, 0.0)
.ccd_enabled(true)
.build();
let sensor_handle = bodies.insert(rigid_body);
colliders.insert(collider, sensor_handle, &mut bodies);
// Second rigid-body with CCD enabled.
let collider = ColliderBuilder::ball(1.0).density(10.0).build();
let mut rigid_body = RigidBodyBuilder::new_dynamic()
.linvel(1000.0, 0.0, 0.0)
.translation(-20.0, shift_y + 2.0, shift_z)
.ccd_enabled(true)
.build();
let handle = bodies.insert(rigid_body);
colliders.insert(collider.clone(), handle, &mut bodies);
// Callback that will be executed on the main loop to handle proximities.
testbed.add_callback(move |_, mut graphics, physics, events, _| {
while let Ok(prox) = events.intersection_events.try_recv() {
let color = if prox.intersecting {
Point3::new(1.0, 1.0, 0.0)
} else {
Point3::new(0.5, 0.5, 1.0)
};
let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent();
let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent();
if let Some(graphics) = &mut graphics {
if parent_handle1 != ground_handle && parent_handle1 != sensor_handle {
graphics.set_body_color(parent_handle1, color);
}
if parent_handle2 != ground_handle && parent_handle2 != sensor_handle {
graphics.set_body_color(parent_handle2, color);
}
}
}
});
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
}
fn main() {
let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
testbed.run()
}

14
src/data/coarena.rs
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@@ -29,6 +29,20 @@ impl<T> Coarena<T> {
.and_then(|(gg, t)| if g == *gg { Some(t) } else { None })
}
/// Inserts an element into this coarena.
pub fn insert(&mut self, a: Index, value: T)
where
T: Clone + Default,
{
let (i1, g1) = a.into_raw_parts();
if self.data.len() <= i1 {
self.data.resize(i1 + 1, (u32::MAX as u64, T::default()));
}
self.data[i1] = (g1, value);
}
/// Ensure that elements at the two given indices exist in this coarena, and return their reference.
///
/// Missing elements are created automatically and initialized with the `default` value.

147
src/dynamics/ccd/toi_entry.rs Normal file
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@@ -0,0 +1,147 @@
use crate::data::Coarena;
use crate::dynamics::ccd::ccd_solver::CCDContact;
use crate::dynamics::ccd::CCDData;
use crate::dynamics::{IntegrationParameters, RigidBody, RigidBodyHandle};
use crate::geometry::{Collider, ColliderHandle};
use crate::math::{Isometry, Real};
use crate::parry::query::PersistentQueryDispatcher;
use crate::utils::WCross;
use na::{RealField, Unit};
use parry::query::{NonlinearRigidMotion, QueryDispatcher, TOI};
#[derive(Copy, Clone, Debug)]
pub struct TOIEntry {
pub toi: Real,
pub c1: ColliderHandle,
pub b1: RigidBodyHandle,
pub c2: ColliderHandle,
pub b2: RigidBodyHandle,
pub is_intersection_test: bool,
pub timestamp: usize,
}
impl TOIEntry {
fn new(
toi: Real,
c1: ColliderHandle,
b1: RigidBodyHandle,
c2: ColliderHandle,
b2: RigidBodyHandle,
is_intersection_test: bool,
timestamp: usize,
) -> Self {
Self {
toi,
c1,
b1,
c2,
b2,
is_intersection_test,
timestamp,
}
}
pub fn try_from_colliders<QD: ?Sized + PersistentQueryDispatcher<(), ()>>(
params: &IntegrationParameters,
query_dispatcher: &QD,
ch1: ColliderHandle,
ch2: ColliderHandle,
c1: &Collider,
c2: &Collider,
b1: &RigidBody,
b2: &RigidBody,
frozen1: Option<Real>,
frozen2: Option<Real>,
start_time: Real,
end_time: Real,
body_params: &Coarena<CCDData>,
) -> Option<Self> {
assert!(start_time <= end_time);
let linvel1 = frozen1.is_none() as u32 as Real * b1.linvel;
let linvel2 = frozen2.is_none() as u32 as Real * b2.linvel;
let vel12 = linvel2 - linvel1;
let thickness = (c1.shape().ccd_thickness() + c2.shape().ccd_thickness());
if params.dt * vel12.norm() < thickness {
return None;
}
let is_intersection_test = c1.is_sensor() || c2.is_sensor();
let body_params1 = body_params.get(c1.parent.0)?;
let body_params2 = body_params.get(c2.parent.0)?;
// Compute the TOI.
let mut motion1 = body_params1.motion(params.dt, b1, 0.0);
let mut motion2 = body_params2.motion(params.dt, b2, 0.0);
if let Some(t) = frozen1 {
motion1.freeze(t);
}
if let Some(t) = frozen2 {
motion2.freeze(t);
}
let mut toi;
let motion_c1 = motion1.prepend(*c1.position_wrt_parent());
let motion_c2 = motion2.prepend(*c2.position_wrt_parent());
// println!("start_time: {}", start_time);
// If this is just an intersection test (i.e. with sensors)
// then we can stop the TOI search immediately if it starts with
// a penetration because we don't care about the whether the velocity
// at the impact is a separating velocity or not.
// If the TOI search involves two non-sensor colliders then
// we don't want to stop the TOI search at the first penetration
// because the colliders may be in a separating trajectory.
let stop_at_penetration = is_intersection_test;
let res_toi = query_dispatcher
.nonlinear_time_of_impact(
&motion_c1,
c1.shape(),
&motion_c2,
c2.shape(),
start_time,
end_time,
stop_at_penetration,
)
.ok();
toi = res_toi??;
Some(Self::new(
toi.toi,
ch1,
c1.parent(),
ch2,
c2.parent(),
is_intersection_test,
0,
))
}
}
impl PartialOrd for TOIEntry {
fn partial_cmp(&self, other: &Self) -> Option<std::cmp::Ordering> {
(-self.toi).partial_cmp(&(-other.toi))
}
}
impl Ord for TOIEntry {
fn cmp(&self, other: &Self) -> std::cmp::Ordering {
self.partial_cmp(other).unwrap()
}
}
impl PartialEq for TOIEntry {
fn eq(&self, other: &Self) -> bool {
self.toi == other.toi
}
}
impl Eq for TOIEntry {}

2
src/dynamics/mod.rs
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@@ -18,6 +18,7 @@ pub use self::rigid_body::{ActivationStatus, BodyStatus, RigidBody, RigidBodyBui
pub use self::rigid_body_set::{BodyPair, RigidBodyHandle, RigidBodySet};
pub use parry::mass_properties::MassProperties;
// #[cfg(not(feature = "parallel"))]
pub use self::ccd::CCDSolver;
pub use self::coefficient_combine_rule::CoefficientCombineRule;
pub(crate) use self::joint::JointGraphEdge;
pub(crate) use self::rigid_body::RigidBodyChanges;
@@ -26,6 +27,7 @@ pub(crate) use self::solver::IslandSolver;
#[cfg(feature = "parallel")]
pub(crate) use self::solver::ParallelIslandSolver;
mod ccd;
mod coefficient_combine_rule;
mod integration_parameters;
mod joint;

106
src/dynamics/rigid_body.rs
View File

@@ -36,6 +36,7 @@ bitflags::bitflags! {
const ROTATION_LOCKED_X = 1 << 1;
const ROTATION_LOCKED_Y = 1 << 2;
const ROTATION_LOCKED_Z = 1 << 3;
const CCD_ENABLED = 1 << 4;
}
}
@@ -58,7 +59,16 @@ bitflags::bitflags! {
pub struct RigidBody {
/// The world-space position of the rigid-body.
pub(crate) position: Isometry<Real>,
pub(crate) predicted_position: Isometry<Real>,
/// The next position of the rigid-body.
///
/// At the beginning of the timestep, and when the
/// timestep is complete we must have position == next_position
/// except for kinematic bodies.
///
/// The next_position is updated after the velocity and position
/// resolution. Then it is either validated (ie. we set position := set_position)
/// or clamped by CCD.
pub(crate) next_position: Isometry<Real>,
/// The local mass properties of the rigid-body.
pub(crate) mass_properties: MassProperties,
/// The world-space center of mass of the rigid-body.
@@ -76,6 +86,10 @@ pub struct RigidBody {
pub linear_damping: Real,
/// Damping factor for gradually slowing down the angular motion of the rigid-body.
pub angular_damping: Real,
/// The maximum linear velocity this rigid-body can reach.
pub max_linear_velocity: Real,
/// The maximum angular velocity this rigid-body can reach.
pub max_angular_velocity: Real,
/// Accumulation of external forces (only for dynamic bodies).
pub(crate) force: Vector<Real>,
/// Accumulation of external torques (only for dynamic bodies).
@@ -97,13 +111,14 @@ pub struct RigidBody {
dominance_group: i8,
/// User-defined data associated to this rigid-body.
pub user_data: u128,
pub(crate) ccd_thickness: Real,
}
impl RigidBody {
fn new() -> Self {
Self {
position: Isometry::identity(),
predicted_position: Isometry::identity(),
next_position: Isometry::identity(),
mass_properties: MassProperties::zero(),
world_com: Point::origin(),
effective_inv_mass: 0.0,
@@ -115,6 +130,8 @@ impl RigidBody {
gravity_scale: 1.0,
linear_damping: 0.0,
angular_damping: 0.0,
max_linear_velocity: Real::MAX,
max_angular_velocity: 100.0,
colliders: Vec::new(),
activation: ActivationStatus::new_active(),
joint_graph_index: InteractionGraph::<(), ()>::invalid_graph_index(),
@@ -127,6 +144,7 @@ impl RigidBody {
body_status: BodyStatus::Dynamic,
dominance_group: 0,
user_data: 0,
ccd_thickness: Real::MAX,
}
}
@@ -176,6 +194,20 @@ impl RigidBody {
}
}
/// Enables of disable CCD (continuous collision-detection) for this rigid-body.
pub fn enable_ccd(&mut self, enabled: bool) {
self.flags.set(RigidBodyFlags::CCD_ENABLED, enabled)
}
/// Is CCD (continous collision-detection) enabled for this rigid-body?
pub fn is_ccd_enabled(&self) -> bool {
self.flags.contains(RigidBodyFlags::CCD_ENABLED)
}
pub(crate) fn should_resolve_ccd(&self, dt: Real) -> bool {
self.is_ccd_enabled() && self.is_dynamic() && self.linvel.norm() * dt > self.ccd_thickness
}
/// Sets the rigid-body's mass properties.
///
/// If `wake_up` is `true` then the rigid-body will be woken up if it was
@@ -228,8 +260,8 @@ impl RigidBody {
/// If this rigid-body is kinematic this value is set by the `set_next_kinematic_position`
/// method and is used for estimating the kinematic body velocity at the next timestep.
/// For non-kinematic bodies, this value is currently unspecified.
pub fn predicted_position(&self) -> &Isometry<Real> {
&self.predicted_position
pub fn next_position(&self) -> &Isometry<Real> {
&self.next_position
}
/// The scale factor applied to the gravity affecting this rigid-body.
@@ -254,6 +286,8 @@ impl RigidBody {
true,
);
self.ccd_thickness = self.ccd_thickness.min(coll.shape().ccd_thickness());
let mass_properties = coll
.mass_properties()
.transform_by(coll.position_wrt_parent());
@@ -265,8 +299,8 @@ impl RigidBody {
pub(crate) fn update_colliders_positions(&mut self, colliders: &mut ColliderSet) {
for handle in &self.colliders {
let collider = &mut colliders[*handle];
collider.prev_position = self.position;
collider.position = self.position * collider.delta;
collider.predicted_position = self.predicted_position * collider.delta;
}
}
@@ -331,18 +365,39 @@ impl RigidBody {
!self.linvel.is_zero() || !self.angvel.is_zero()
}
fn integrate_velocity(&self, dt: Real) -> Isometry<Real> {
pub(crate) fn integrate_velocity(&self, dt: Real) -> Isometry<Real> {
let com = self.position * self.mass_properties.local_com;
let shift = Translation::from(com.coords);
shift * Isometry::new(self.linvel * dt, self.angvel * dt) * shift.inverse()
}
pub(crate) fn integrate(&mut self, dt: Real) {
pub(crate) fn position_at_time(&self, dt: Real) -> Isometry<Real> {
self.integrate_velocity(dt) * self.position
}
pub(crate) fn integrate_next_position(&mut self, dt: Real, apply_damping: bool) {
// TODO: do we want to apply damping before or after the velocity integration?
if apply_damping {
self.linvel *= 1.0 / (1.0 + dt * self.linear_damping);
self.angvel *= 1.0 / (1.0 + dt * self.angular_damping);
self.position = self.integrate_velocity(dt) * self.position;
// self.linvel = self.linvel.cap_magnitude(self.max_linear_velocity);
// #[cfg(feature = "dim2")]
// {
// self.angvel = na::clamp(
// self.angvel,
// -self.max_angular_velocity,
// self.max_angular_velocity,
// );
// }
// #[cfg(feature = "dim3")]
// {
// self.angvel = self.angvel.cap_magnitude(self.max_angular_velocity);
// }
}
self.next_position = self.integrate_velocity(dt) * self.position;
let _ = self.next_position.rotation.renormalize();
}
/// The linear velocity of this rigid-body.
@@ -416,7 +471,8 @@ impl RigidBody {
/// put to sleep because it did not move for a while.
pub fn set_position(&mut self, pos: Isometry<Real>, wake_up: bool) {
self.changes.insert(RigidBodyChanges::POSITION);
self.set_position_internal(pos);
self.position = pos;
self.next_position = pos;
// TODO: Do we really need to check that the body isn't dynamic?
if wake_up && self.is_dynamic() {
@@ -424,24 +480,19 @@ impl RigidBody {
}
}
pub(crate) fn set_position_internal(&mut self, pos: Isometry<Real>) {
self.position = pos;
// TODO: update the predicted position for dynamic bodies too?
if self.is_static() || self.is_kinematic() {
self.predicted_position = pos;
}
pub(crate) fn set_next_position(&mut self, pos: Isometry<Real>) {
self.next_position = pos;
}
/// If this rigid body is kinematic, sets its future position after the next timestep integration.
pub fn set_next_kinematic_position(&mut self, pos: Isometry<Real>) {
if self.is_kinematic() {
self.predicted_position = pos;
self.next_position = pos;
}
}
pub(crate) fn compute_velocity_from_predicted_position(&mut self, inv_dt: Real) {
let dpos = self.predicted_position * self.position.inverse();
pub(crate) fn compute_velocity_from_next_position(&mut self, inv_dt: Real) {
let dpos = self.next_position * self.position.inverse();
#[cfg(feature = "dim2")]
{
self.angvel = dpos.rotation.angle() * inv_dt;
@@ -453,8 +504,8 @@ impl RigidBody {
self.linvel = dpos.translation.vector * inv_dt;
}
pub(crate) fn update_predicted_position(&mut self, dt: Real) {
self.predicted_position = self.integrate_velocity(dt) * self.position;
pub(crate) fn update_next_position(&mut self, dt: Real) {
self.next_position = self.integrate_velocity(dt) * self.position;
}
pub(crate) fn update_world_mass_properties(&mut self) {
@@ -666,6 +717,7 @@ pub struct RigidBodyBuilder {
mass_properties: MassProperties,
can_sleep: bool,
sleeping: bool,
ccd_enabled: bool,
dominance_group: i8,
user_data: u128,
}
@@ -685,6 +737,7 @@ impl RigidBodyBuilder {
mass_properties: MassProperties::zero(),
can_sleep: true,
sleeping: false,
ccd_enabled: false,
dominance_group: 0,
user_data: 0,
}
@@ -888,6 +941,12 @@ impl RigidBodyBuilder {
self
}
/// Enabled continuous collision-detection for this rigid-body.
pub fn ccd_enabled(mut self, enabled: bool) -> Self {
self.ccd_enabled = enabled;
self
}
/// Sets whether or not the rigid-body is to be created asleep.
pub fn sleeping(mut self, sleeping: bool) -> Self {
self.sleeping = sleeping;
@@ -897,8 +956,8 @@ impl RigidBodyBuilder {
/// Build a new rigid-body with the parameters configured with this builder.
pub fn build(&self) -> RigidBody {
let mut rb = RigidBody::new();
rb.predicted_position = self.position; // FIXME: compute the correct value?
rb.set_position_internal(self.position);
rb.next_position = self.position; // FIXME: compute the correct value?
rb.position = self.position;
rb.linvel = self.linvel;
rb.angvel = self.angvel;
rb.body_status = self.body_status;
@@ -909,6 +968,7 @@ impl RigidBodyBuilder {
rb.gravity_scale = self.gravity_scale;
rb.flags = self.flags;
rb.dominance_group = self.dominance_group;
rb.enable_ccd(self.ccd_enabled);
if self.can_sleep && self.sleeping {
rb.sleep();

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

@@ -59,7 +59,7 @@ impl IslandSolver {
counters.solver.velocity_update_time.resume();
bodies.foreach_active_island_body_mut_internal(island_id, |_, rb| {
rb.integrate(params.dt)
rb.integrate_next_position(params.dt, true)
});
counters.solver.velocity_update_time.pause();
@@ -77,7 +77,7 @@ impl IslandSolver {
bodies.foreach_active_island_body_mut_internal(island_id, |_, rb| {
// Since we didn't run the velocity solver we need to integrate the accelerations here
rb.integrate_accelerations(params.dt);
rb.integrate(params.dt);
rb.integrate_next_position(params.dt, true);
});
counters.solver.velocity_update_time.pause();
}

4
src/dynamics/solver/joint_constraint/ball_position_constraint.rs
View File

@@ -114,7 +114,7 @@ impl BallPositionGroundConstraint {
// are the local_anchors. The rb1 and rb2 have
// already been flipped by the caller.
Self {
anchor1: rb1.predicted_position * cparams.local_anchor2,
anchor1: rb1.next_position * cparams.local_anchor2,
im2: rb2.effective_inv_mass,
ii2: rb2.effective_world_inv_inertia_sqrt.squared(),
local_anchor2: cparams.local_anchor1,
@@ -123,7 +123,7 @@ impl BallPositionGroundConstraint {
}
} else {
Self {
anchor1: rb1.predicted_position * cparams.local_anchor1,
anchor1: rb1.next_position * cparams.local_anchor1,
im2: rb2.effective_inv_mass,
ii2: rb2.effective_world_inv_inertia_sqrt.squared(),
local_anchor2: cparams.local_anchor2,

2
src/dynamics/solver/joint_constraint/ball_position_constraint_wide.rs
View File

@@ -134,7 +134,7 @@ impl WBallPositionGroundConstraint {
cparams: [&BallJoint; SIMD_WIDTH],
flipped: [bool; SIMD_WIDTH],
) -> Self {
let position1 = Isometry::from(array![|ii| rbs1[ii].predicted_position; SIMD_WIDTH]);
let position1 = Isometry::from(array![|ii| rbs1[ii].next_position; SIMD_WIDTH]);
let anchor1 = position1
* Point::from(array![|ii| if flipped[ii] {
cparams[ii].local_anchor2

4
src/dynamics/solver/joint_constraint/fixed_position_constraint.rs
View File

@@ -100,10 +100,10 @@ impl FixedPositionGroundConstraint {
let local_anchor2;
if flipped {
anchor1 = rb1.predicted_position * cparams.local_anchor2;
anchor1 = rb1.next_position * cparams.local_anchor2;
local_anchor2 = cparams.local_anchor1;
} else {
anchor1 = rb1.predicted_position * cparams.local_anchor1;
anchor1 = rb1.next_position * cparams.local_anchor1;
local_anchor2 = cparams.local_anchor2;
};

8
src/dynamics/solver/joint_constraint/prismatic_position_constraint.rs
View File

@@ -119,14 +119,14 @@ impl PrismaticPositionGroundConstraint {
let local_axis2;
if flipped {
frame1 = rb1.predicted_position * cparams.local_frame2();
frame1 = rb1.next_position * cparams.local_frame2();
local_frame2 = cparams.local_frame1();
axis1 = rb1.predicted_position * cparams.local_axis2;
axis1 = rb1.next_position * cparams.local_axis2;
local_axis2 = cparams.local_axis1;
} else {
frame1 = rb1.predicted_position * cparams.local_frame1();
frame1 = rb1.next_position * cparams.local_frame1();
local_frame2 = cparams.local_frame2();
axis1 = rb1.predicted_position * cparams.local_axis1;
axis1 = rb1.next_position * cparams.local_axis1;
local_axis2 = cparams.local_axis2;
};

16
src/dynamics/solver/joint_constraint/revolute_position_constraint.rs
View File

@@ -145,23 +145,23 @@ impl RevolutePositionGroundConstraint {
let local_basis2;
if flipped {
anchor1 = rb1.predicted_position * cparams.local_anchor2;
anchor1 = rb1.next_position * cparams.local_anchor2;
local_anchor2 = cparams.local_anchor1;
axis1 = rb1.predicted_position * cparams.local_axis2;
axis1 = rb1.next_position * cparams.local_axis2;
local_axis2 = cparams.local_axis1;
basis1 = [
rb1.predicted_position * cparams.basis2[0],
rb1.predicted_position * cparams.basis2[1],
rb1.next_position * cparams.basis2[0],
rb1.next_position * cparams.basis2[1],
];
local_basis2 = cparams.basis1;
} else {
anchor1 = rb1.predicted_position * cparams.local_anchor1;
anchor1 = rb1.next_position * cparams.local_anchor1;
local_anchor2 = cparams.local_anchor2;
axis1 = rb1.predicted_position * cparams.local_axis1;
axis1 = rb1.next_position * cparams.local_axis1;
local_axis2 = cparams.local_axis2;
basis1 = [
rb1.predicted_position * cparams.basis1[0],
rb1.predicted_position * cparams.basis1[1],
rb1.next_position * cparams.basis1[0],
rb1.next_position * cparams.basis1[1],
];
local_basis2 = cparams.basis2;
};

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

@@ -277,7 +277,7 @@ impl ParallelIslandSolver {
rb.linvel += dvel.linear;
rb.angvel += rb.effective_world_inv_inertia_sqrt.transform_vector(dvel.angular);
rb.integrate(params.dt);
positions[rb.active_set_offset] = rb.position;
positions[rb.active_set_offset] = rb.next_position;
}
}
@@ -298,7 +298,7 @@ impl ParallelIslandSolver {
let batch_size = thread.batch_size;
for handle in active_bodies[thread.position_writeback_index] {
let rb = &mut bodies[handle.0];
rb.set_position_internal(positions[rb.active_set_offset]);
rb.set_next_position(positions[rb.active_set_offset]);
}
}
})

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

@@ -25,7 +25,7 @@ impl PositionSolver {
self.positions.extend(
bodies
.iter_active_island(island_id)
.map(|(_, b)| b.position),
.map(|(_, b)| b.next_position),
);
for _ in 0..params.max_position_iterations {
@@ -39,7 +39,7 @@ impl PositionSolver {
}
bodies.foreach_active_island_body_mut_internal(island_id, |_, rb| {
rb.set_position_internal(self.positions[rb.active_set_offset])
rb.set_next_position(self.positions[rb.active_set_offset])
});
}
}

17
src/geometry/collider.rs
View File

@@ -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,

2
src/geometry/collider_set.rs
View File

@@ -108,8 +108,8 @@ impl ColliderSet {
let parent = bodies
.get_mut(parent_handle)
.expect("Parent rigid body not found.");
coll.prev_position = parent.position * coll.delta;
coll.position = parent.position * coll.delta;
coll.predicted_position = parent.predicted_position * coll.delta;
let handle = ColliderHandle(self.colliders.insert(coll));
let coll = self.colliders.get(handle.0).unwrap();
parent.add_collider(handle, &coll);

8
src/geometry/narrow_phase.rs
View File

@@ -71,6 +71,14 @@ impl NarrowPhase {
}
}
/// The query dispatcher used by this narrow-phase to select the right collision-detection
/// algorithms depending of the shape types.
pub fn query_dispatcher(
&self,
) -> &dyn PersistentQueryDispatcher<ContactManifoldData, ContactData> {
&*self.query_dispatcher
}
/// The contact graph containing all contact pairs and their contact information.
pub fn contact_graph(&self) -> &InteractionGraph<ColliderHandle, ContactPair> {
&self.contact_graph

11
src/pipeline/collision_pipeline.rs
View File

@@ -69,21 +69,18 @@ impl CollisionPipeline {
// // Update kinematic bodies velocities.
// bodies.foreach_active_kinematic_body_mut_internal(|_, body| {
// body.compute_velocity_from_predicted_position(integration_parameters.inv_dt());
// body.compute_velocity_from_next_position(integration_parameters.inv_dt());
// });
// Update colliders positions and kinematic bodies positions.
bodies.foreach_active_body_mut_internal(|_, rb| {
if rb.is_kinematic() {
rb.position = rb.predicted_position;
} else {
rb.update_predicted_position(0.0);
}
rb.position = rb.next_position;
rb.update_colliders_positions(colliders);
for handle in &rb.colliders {
let collider = &mut colliders[*handle];
collider.prev_position = collider.position;
collider.position = rb.position * collider.delta;
collider.predicted_position = rb.predicted_position * collider.delta;
}
});

33
src/pipeline/physics_pipeline.rs
View File

@@ -3,7 +3,7 @@
use crate::counters::Counters;
#[cfg(not(feature = "parallel"))]
use crate::dynamics::IslandSolver;
use crate::dynamics::{IntegrationParameters, JointSet, RigidBodySet};
use crate::dynamics::{CCDSolver, IntegrationParameters, JointSet, RigidBodySet};
#[cfg(feature = "parallel")]
use crate::dynamics::{JointGraphEdge, ParallelIslandSolver as IslandSolver};
use crate::geometry::{
@@ -68,6 +68,7 @@ impl PhysicsPipeline {
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
joints: &mut JointSet,
ccd_solver: Option<&mut CCDSolver>,
hooks: &dyn PhysicsHooks,
events: &dyn EventHandler,
) {
@@ -81,7 +82,7 @@ impl PhysicsPipeline {
// there to determine if this kinematic body should wake-up dynamic
// bodies it is touching.
bodies.foreach_active_kinematic_body_mut_internal(|_, body| {
body.compute_velocity_from_predicted_position(integration_parameters.inv_dt());
body.compute_velocity_from_next_position(integration_parameters.inv_dt());
});
self.counters.stages.collision_detection_time.start();
@@ -218,23 +219,33 @@ impl PhysicsPipeline {
});
}
// Update colliders positions and kinematic bodies positions.
// FIXME: do this in the solver?
bodies.foreach_active_body_mut_internal(|_, rb| {
if rb.is_kinematic() {
rb.position = rb.predicted_position;
rb.linvel = na::zero();
rb.angvel = na::zero();
} else {
rb.update_predicted_position(integration_parameters.dt);
// Handle CCD
if let Some(ccd_solver) = ccd_solver {
let impacts = ccd_solver.predict_next_impacts(
integration_parameters,
bodies,
colliders,
integration_parameters.dt,
events,
);
ccd_solver.clamp_motions(integration_parameters.dt, bodies, &impacts);
}
// Set the rigid-bodies and kinematic bodies to their final position.
bodies.foreach_active_body_mut_internal(|_, rb| {
if rb.is_kinematic() {
rb.linvel = na::zero();
rb.angvel = na::zero();
}
rb.position = rb.next_position;
rb.update_colliders_positions(colliders);
});
self.counters.stages.solver_time.pause();
bodies.modified_inactive_set.clear();
self.counters.step_completed();
}
}

62
src/pipeline/query_pipeline.rs
View File

@@ -1,10 +1,9 @@
use crate::dynamics::RigidBodySet;
use crate::geometry::{
Collider, ColliderHandle, ColliderSet, InteractionGroups, PointProjection, Ray,
RayIntersection, SimdQuadTree,
RayIntersection, SimdQuadTree, AABB,
};
use crate::math::{Isometry, Point, Real, Vector};
use crate::parry::motion::RigidMotion;
use parry::query::details::{
IntersectionCompositeShapeShapeBestFirstVisitor,
NonlinearTOICompositeShapeShapeBestFirstVisitor, PointCompositeShapeProjBestFirstVisitor,
@@ -15,7 +14,7 @@ use parry::query::details::{
use parry::query::visitors::{
BoundingVolumeIntersectionsVisitor, PointIntersectionsVisitor, RayIntersectionsVisitor,
};
use parry::query::{DefaultQueryDispatcher, QueryDispatcher, TOI};
use parry::query::{DefaultQueryDispatcher, NonlinearRigidMotion, QueryDispatcher, TOI};
use parry::shape::{FeatureId, Shape, TypedSimdCompositeShape};
use std::sync::Arc;
@@ -95,7 +94,7 @@ impl QueryPipeline {
/// Initializes an empty query pipeline with a custom `QueryDispatcher`.
///
/// Use this constructor in order to use a custom `QueryDispatcher` that is
/// awary of your own user-defined shapes.
/// aware of your own user-defined shapes.
pub fn with_query_dispatcher<D>(d: D) -> Self
where
D: 'static + QueryDispatcher,
@@ -108,11 +107,26 @@ impl QueryPipeline {
}
}
/// The query dispatcher used by this query pipeline for running scene queries.
pub fn query_dispatcher(&self) -> &dyn QueryDispatcher {
&*self.query_dispatcher
}
/// Update the acceleration structure on the query pipeline.
pub fn update(&mut self, bodies: &RigidBodySet, colliders: &ColliderSet) {
pub fn update(&mut self, bodies: &RigidBodySet, colliders: &ColliderSet, use_swept_aabb: bool) {
if !self.tree_built {
if !use_swept_aabb {
let data = colliders.iter().map(|(h, c)| (h, c.compute_aabb()));
self.quadtree.clear_and_rebuild(data, self.dilation_factor);
} else {
let data = colliders.iter().map(|(h, co)| {
let next_position =
bodies[co.parent()].next_position * co.position_wrt_parent();
(h, co.compute_swept_aabb(&next_position))
});
self.quadtree.clear_and_rebuild(data, self.dilation_factor);
}
// FIXME: uncomment this once we handle insertion/removals properly.
// self.tree_built = true;
return;
@@ -127,10 +141,22 @@ impl QueryPipeline {
}
}
if !use_swept_aabb {
self.quadtree.update(
|handle| colliders[*handle].compute_aabb(),
self.dilation_factor,
);
} else {
self.quadtree.update(
|handle| {
let co = &colliders[*handle];
let next_position =
bodies[co.parent()].next_position * co.position_wrt_parent();
co.compute_swept_aabb(&next_position)
},
self.dilation_factor,
);
}
}
/// Find the closest intersection between a ray and a set of collider.
@@ -336,6 +362,16 @@ impl QueryPipeline {
.map(|h| (h.1 .1 .0, h.1 .0, h.1 .1 .1))
}
/// Finds all handles of all the colliders with an AABB intersecting the given AABB.
pub fn colliders_with_aabb_intersecting_aabb(
&self,
aabb: &AABB,
mut callback: impl FnMut(&ColliderHandle) -> bool,
) {
let mut visitor = BoundingVolumeIntersectionsVisitor::new(aabb, &mut callback);
self.quadtree.traverse_depth_first(&mut visitor);
}
/// Casts a shape at a constant linear velocity and retrieve the first collider it hits.
///
/// This is similar to ray-casting except that we are casting a whole shape instead of
@@ -386,20 +422,24 @@ impl QueryPipeline {
pub fn nonlinear_cast_shape(
&self,
colliders: &ColliderSet,
shape_motion: &dyn RigidMotion,
shape_motion: &NonlinearRigidMotion,
shape: &dyn Shape,
max_toi: Real,
target_distance: Real,
start_time: Real,
end_time: Real,
stop_at_penetration: bool,
groups: InteractionGroups,
) -> Option<(ColliderHandle, TOI)> {
let pipeline_shape = self.as_composite_shape(colliders, groups);
let pipeline_motion = NonlinearRigidMotion::identity();
let mut visitor = NonlinearTOICompositeShapeShapeBestFirstVisitor::new(
&*self.query_dispatcher,
shape_motion,
&pipeline_motion,
&pipeline_shape,
shape_motion,
shape,
max_toi,
target_distance,
start_time,
end_time,
stop_at_penetration,
);
self.quadtree.traverse_best_first(&mut visitor).map(|h| h.1)
}

11
src_testbed/box2d_backend.rs
View File

@@ -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,

6
src_testbed/harness/mod.rs
View File

@@ -4,7 +4,7 @@ use crate::{
};
use kiss3d::window::Window;
use plugin::HarnessPlugin;
use rapier::dynamics::{IntegrationParameters, JointSet, RigidBodySet};
use rapier::dynamics::{CCDSolver, IntegrationParameters, JointSet, RigidBodySet};
use rapier::geometry::{BroadPhase, ColliderSet, NarrowPhase};
use rapier::math::Vector;
use rapier::pipeline::{ChannelEventCollector, PhysicsHooks, PhysicsPipeline, QueryPipeline};
@@ -133,6 +133,7 @@ impl Harness {
self.physics.broad_phase = BroadPhase::new();
self.physics.narrow_phase = NarrowPhase::new();
self.state.timestep_id = 0;
self.physics.ccd_solver = CCDSolver::new();
self.physics.query_pipeline = QueryPipeline::new();
self.physics.pipeline = PhysicsPipeline::new();
self.physics.pipeline.counters.enable();
@@ -194,13 +195,14 @@ impl Harness {
&mut self.physics.bodies,
&mut self.physics.colliders,
&mut self.physics.joints,
Some(&mut self.physics.ccd_solver),
&*self.physics.hooks,
&self.event_handler,
);
self.physics
.query_pipeline
.update(&self.physics.bodies, &self.physics.colliders);
.update(&self.physics.bodies, &self.physics.colliders, false);
for plugin in &mut self.plugins {
plugin.step(&mut self.physics, &self.state)

4
src_testbed/physics/mod.rs
View File

@@ -1,5 +1,5 @@
use crossbeam::channel::Receiver;
use rapier::dynamics::{IntegrationParameters, JointSet, RigidBodySet};
use rapier::dynamics::{CCDSolver, IntegrationParameters, JointSet, RigidBodySet};
use rapier::geometry::{BroadPhase, ColliderSet, ContactEvent, IntersectionEvent, NarrowPhase};
use rapier::math::Vector;
use rapier::pipeline::{PhysicsHooks, PhysicsPipeline, QueryPipeline};
@@ -73,6 +73,7 @@ pub struct PhysicsState {
pub bodies: RigidBodySet,
pub colliders: ColliderSet,
pub joints: JointSet,
pub ccd_solver: CCDSolver,
pub pipeline: PhysicsPipeline,
pub query_pipeline: QueryPipeline,
pub integration_parameters: IntegrationParameters,
@@ -88,6 +89,7 @@ impl PhysicsState {
bodies: RigidBodySet::new(),
colliders: ColliderSet::new(),
joints: JointSet::new(),
ccd_solver: CCDSolver::new(),
pipeline: PhysicsPipeline::new(),
query_pipeline: QueryPipeline::new(),
integration_parameters: IntegrationParameters::default(),

38
src_testbed/physx_backend.rs
View File

@@ -13,8 +13,8 @@ use physx::prelude::*;
use physx::scene::FrictionType;
use physx::traits::Class;
use physx_sys::{
PxBitAndByte, PxConvexFlags, PxConvexMeshGeometryFlags, PxHeightFieldSample,
PxMeshGeometryFlags, PxMeshScale_new, PxRigidActor,
FilterShaderCallbackInfo, PxBitAndByte, PxConvexFlags, PxConvexMeshGeometryFlags,
PxHeightFieldSample, PxMeshGeometryFlags, PxMeshScale_new, PxRigidActor,
};
use rapier::counters::Counters;
use rapier::dynamics::{
@@ -160,7 +160,7 @@ impl PhysxWorld {
FrictionType::Patch
};
let scene_desc = SceneDescriptor {
let mut scene_desc = SceneDescriptor {
gravity: gravity.into_physx(),
thread_count: num_threads as u32,
broad_phase_type: BroadPhaseType::AutomaticBoxPruning,
@@ -169,6 +169,14 @@ impl PhysxWorld {
..SceneDescriptor::new(())
};
let ccd_enabled = bodies.iter().any(|(_, rb)| rb.is_ccd_enabled());
if ccd_enabled {
scene_desc.simulation_filter_shader =
FilterShaderDescriptor::CallDefaultFirst(ccd_filter_shader);
scene_desc.flags.insert(SceneFlag::EnableCcd);
}
let mut scene: Owner<PxScene> = physics.create(scene_desc).unwrap();
let mut rapier2dynamic = HashMap::new();
let mut rapier2static = HashMap::new();
@@ -231,7 +239,7 @@ impl PhysxWorld {
}
}
// Update mass properties.
// Update mass properties and CCD flags.
for (rapier_handle, actor) in rapier2dynamic.iter_mut() {
let rb = &bodies[*rapier_handle];
let densities: Vec<_> = rb
@@ -248,6 +256,23 @@ impl PhysxWorld {
std::ptr::null(),
false,
);
if rb.is_ccd_enabled() {
physx_sys::PxRigidBody_setRigidBodyFlag_mut(
std::mem::transmute(actor.as_mut()),
RigidBodyFlag::EnableCCD as u32,
true,
);
// physx_sys::PxRigidBody_setMinCCDAdvanceCoefficient_mut(
// std::mem::transmute(actor.as_mut()),
// 0.0,
// );
// physx_sys::PxRigidBody_setRigidBodyFlag_mut(
// std::mem::transmute(actor.as_mut()),
// RigidBodyFlag::EnableCCDFriction as u32,
// true,
// );
}
}
}
@@ -699,3 +724,8 @@ impl AdvanceCallback<PxArticulationLink, PxRigidDynamic> for OnAdvance {
) {
}
}
unsafe extern "C" fn ccd_filter_shader(data: *mut FilterShaderCallbackInfo) -> u16 {
(*(*data).pairFlags).mBits |= physx_sys::PxPairFlag::eDETECT_CCD_CONTACT as u16;
0
}

44
src_testbed/testbed.rs
View File

@@ -769,11 +769,38 @@ impl Testbed {
}
#[cfg(feature = "dim3")]
fn handle_special_event(&mut self, window: &mut Window, _event: Event) {
fn handle_special_event(&mut self, window: &mut Window, event: Event) {
use rapier::dynamics::RigidBodyBuilder;
use rapier::geometry::ColliderBuilder;
if window.is_conrod_ui_capturing_mouse() {
return;
}
match event.value {
WindowEvent::Key(Key::Space, Action::Release, _) => {
let cam_pos = self.graphics.camera().view_transform().inverse();
let forward = cam_pos * -Vector::z();
let vel = forward * 1000.0;
let bodies = &mut self.harness.physics.bodies;
let colliders = &mut self.harness.physics.colliders;
let collider = ColliderBuilder::cuboid(4.0, 2.0, 0.4).density(20.0).build();
// let collider = ColliderBuilder::ball(2.0).density(1.0).build();
let body = RigidBodyBuilder::new_dynamic()
.position(cam_pos)
.linvel(vel.x, vel.y, vel.z)
.ccd_enabled(true)
.build();
let body_handle = bodies.insert(body);
colliders.insert(collider, body_handle, bodies);
self.graphics.add(window, body_handle, bodies, colliders);
}
_ => {}
}
/*
match event.value {
WindowEvent::MouseButton(MouseButton::Button1, Action::Press, modifier) => {
@@ -1454,6 +1481,20 @@ 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 contact in &manifold.data.solver_contacts {
let color = if contact.dist > 0.0 {
Point3::new(0.0, 0.0, 1.0)
} else {
Point3::new(1.0, 0.0, 0.0)
};
let p = contact.point;
let n = manifold.data.normal;
use crate::engine::GraphicsWindow;
window.draw_graphics_line(&p, &(p + n * 0.4), &Point3::new(0.5, 1.0, 0.5));
}
/*
for pt in manifold.contacts() {
let color = if pt.dist > 0.0 {
Point3::new(0.0, 0.0, 1.0)
@@ -1474,6 +1515,7 @@ fn draw_contacts(window: &mut Window, nf: &NarrowPhase, colliders: &ColliderSet)
window.draw_graphics_line(&start, &(start + n * 0.4), &Point3::new(0.5, 1.0, 0.5));
window.draw_graphics_line(&start, &end, &color);
}
*/
}
}
}